文献类型：期刊文献

中文题名：柔性多关节移动机器人末端残余振动控制研究

英文题名：Research on Residual Vibration Control of Flexible Multi Joint Mobile Robot

作者：李林峻[1];党旭丹[2];刘洋[3]

第一作者：李林峻

机构：[1]河南工程学院工程训练中心,河南郑州451191;[2]河南工程学院机械工程学院,河南郑州451191;[3]河南财经政法大学现代教育技术中心,河南郑州450000

第一机构：河南工程学院工程训练中心,河南郑州451191

年份：2021

期号：9

起止页码：102-106

中文期刊名：机械设计与制造

外文期刊名：Machinery Design & Manufacture

收录：CSTPCD;;北大核心:【北大核心2020】；

基金：河南省科技攻关项目基金号:182102210030。

语种：中文

中文关键词：柔性;多关节;机器人;末端残余振动;振动控制;

外文关键词：Flexible;Multi joint;Robot;End residual vibration;Vibration control;

摘要：针对目前柔性多关节移动机器人末端残余振动控制方法控制跟踪误差大,控制柔顺性差问题,提出一种新的控制方法。通过简化概念模型分析柔性关节,利用确定弹性势能、机械动力、运行轨迹建立柔性多关节移动机器人末端动力学模型。分析信号与关节点之间角度,确定柔性多关节移动机器人末端运动误差,建立误差模型,利用DETMAX算法分析运动参数,实现最小姿态选取,利用运动参数,实现振动控制。研究结果表明,引入运动学参数后,在控制机器人运动过程中会考虑阻抗能力和柔顺性能,机器人以线性系统的方式运行,各关节运动都得以优化,末端残余振动受到有效抑制,跟踪误差得到有效减小,移动机器人关节柔性更好。
Aiming at the problems of large tracking error and poor control compliance of the current control methods for the end residual vibration of flexible multi joint mobile robot,a new control method is proposed.By simplifying the conceptual model,the flexible joint is analyzed,and the end dynamic model of the flexible multi joint mobile robot is established by determining the elastic potential energy,mechanical power and trajectory.The angle between the signal and the joint point is analyzed to determine the end motion error of the flexible multi joint mobile robot,and the error model is established.The motion parameters are analyzed by DETMAX algorithm to realize the minimum attitude selection,and the vibration control is realized by using the motion parameters.The research results show that after introducing the kinematic parameters,the impedance and flexibility will be considered in the process of controlling the robot motion.The robot runs in a linear system,the motion of each joint is optimized,the residual vibration of the end is effectively suppressed,the tracking error is effectively reduced,and the joint flexibility of the mobile robot is better.