Model-based optimal trajectory planning method for multi-degree-of-freedom mechanical arm

Abstract

According to the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model, the optimal trajectory planning method is completed through cooperation of the upper computer, the mechanical arm controller, the feedback control module, the mechanical arm and the optimal trajectory planning module, and the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model is reasonable in design; a mechanical arm dynamic system model is established by adopting a non-causal modeling language, so that a differential state equation of a mechanical arm system with four or more axes is expressed, and the application of an optimal control method in an optimal trajectory planning task of the mechanical arm with four or more axes can be realized.

Description

technical field [0001] The invention belongs to the technical field of program control for manipulator arm operations, and in particular relates to a model-based optimal trajectory planning method for a multi-degree-of-freedom manipulator. Background technique [0002] The robotic arm has the characteristics of flexibility and strong expandability. It has developed rapidly in the context of industrial automation and has been widely used in industrial production, medical assistance and space exploration. The motion control of the general manipulator only considers the kinematics, which can realize the basic motion control of the manipulator. When there is a high requirement on the movement speed of the manipulator, only considering the control method of the kinematics of the manipulator cannot guarantee that the ideal torque of each joint of the manipulator is always within the rated torque range, resulting in the failure of the manipulator controller to give the ideal torque...

AI Technical Summary

Problems solved by technology

When there is a high requirement on the movement speed of the manipulator, only considering the control method of the kinematics of the manipulator cannot guarantee that the ideal torque of each joint of the manipulator is always within the rated torque range, resulting in the failure of the manipulator controller to give the ideal torque. moment, resulting in trajectory tracking error

Therefore, in order to meet the high-speed and high-precision requirements of the manipulator movement, the dynamic system of the manipulator also needs to be considered. The existing optimal trajectory planning method for the manipulator has two shortcomings: First, compared with the trajectory planning whose result is the control law method, the existing trajectory planning method for four-axis and above manipulators depends on the feedback control system of the manipulator, and it is difficult to guarantee the trajectory tracking accuracy in the scene of high-speed movement of the manipulator; second, four-axis and above The analytical expression of the inertia tensor matrix of the mechanical arm is tedious, and the analytical derivation of its inverse is more complicated, which is difficult to apply to the program algorithm, resulting in the optimal control method cannot be applied to the optimal trajectory planning problem of this type of mechanical arm. The present invention proposes A Model-Based Method for Optimal Trajectory Planning of Multi-DOF Manipulator

Images