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Method for solving motion control of redundant mechanical arm

A motion control and solution technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc.

Active Publication Date: 2020-04-21
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to overcome the defects and deficiencies in the prior art, the present invention provides a solution to the motion control of redundant manipulators, based on exponential variable gain to achieve convergence Efficiency and accuracy, using the famous Euler forward difference method to discrete the continuous equation, and using the BFGS quasi-Newton method to estimate the inverse of the time-varying matrix, can solve the motion control of the mechanical arm that cannot be solved by ordinary neural networks faster and more accurately question

Method used

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  • Method for solving motion control of redundant mechanical arm
  • Method for solving motion control of redundant mechanical arm
  • Method for solving motion control of redundant mechanical arm

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Embodiment

[0057] Such as figure 1 As shown, this embodiment provides a solution to the motion control of a redundant robotic arm, including the following steps:

[0058] S1: Build a redundant manipulator as the controlled object, model the motion control problem of the manipulator based on the given trajectory of the end of the manipulator, and convert it into a linear time-varying equation;

[0059] The specific implementation steps of step S1 are: based on the motion control problem of a given robotic arm, the relationship between the end position of the robotic arm and each joint is specifically described as the following equation:

[0060] r(t)=F(θ(t)) (1)

[0061] Among them, θ(t)=[θ 1 (t) ... θ n (t)] T ∈ R n , n is the degree of freedom of the manipulator; r(t)=[x(t) y(t) z(t)] T ∈ R 3 is the end position of the manipulator; F(·):R n →R 3 is the relationship between the joint angle of the manipulator and the end position;

[0062] The equation for deriving formula (1) i...

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Abstract

The invention discloses a method for solving motion control of a redundant mechanical arm. The method comprises the following steps of modeling a motion control problem of the mechanical arm accordingto a given tail end track of the mechanical arm, and converting the motion control problem into a linear time-varying equation; converting a motion control solving problem of the mechanical arm intoa solving problem of the linear time-varying equation, designing an error differential equation with exponential type variable parameters for the linear time-varying equation, and establishing an exponential type variable parameter convergence differential neural network model; dispersing an exponential type variable parameter convergence differential neural network by adopting an Euler forward differential formula and a BFGS quasi-Newton method; solving the linear time-varying equation by using the exponential type discrete variable parameter convergence neural network; and transmitting a result obtained by solving to a given linear time-varying system, and solving the motion control problem of the given mechanical arm. According to the method, the motion control problem of the given mechanical arm can be quickly solved with high precision, and a discretization result can be output after discretization, so that the method is suitable for controlling a discrete input system by a digital circuit.

Description

technical field [0001] The invention relates to the technical field of motion control of redundant robots, in particular to a solution to the motion control of redundant robotic arms. Background technique [0002] Many practical engineering problems can be described as an online time-varying linear system (TVLS), so solving TVLS is of great significance in control theory and control engineering. Among them, the solution of the motion control problem of the manipulator is a very common problem in both the scientific field and the actual control system. Its solution is an indispensable process step in many robot control applications, and the efficiency and precision are the key points of the manipulator. Two important performance indicators of motion control, so it has always been a challenge to find a solution with higher efficiency and precision. [0003] More and more researchers are trying to use neurodynamic methods to solve a large number of linear equations for online ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602Y02P70/10
Inventor 张智军林文蔚罗飞
Owner SOUTH CHINA UNIV OF TECH
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