基于MODELICA的采摘机械手运动控制建模

Modelica-based Modeling Research of Picking Manipulator Motion Control Process

多领域物理系统建模的Modelica语言适合求解常微分方程和微分代数方程,但对多变量函数的偏微分方程和分布式参数求解困难。针对水果采摘机械手运动控制的多变量函数和非线性的复杂不确定问题,采用基于Modelica的虚拟设计方法,提出用Laplace变换把多变量函数的偏微分方程转换成传递函数的算法,给出了机电运动控制的数学模型和耦合关系,设计机器人的本体结构模型,构建了机械手的DriveLib模型库。最后以机械手的单轴控制为例进行仿真,验证了模型的有效性,为机械手设计提供了理论依据。

Modelica is a unified modeling language for solving ordinary differential equation and differential-algebraic equation, but it is difficult to solve the multi-variable function partial differential equation and distributed parameter process. For Fruit Picking Manipulator motion control＇s multivariable function and nonlinear＇s complexity of uncertainty, a robot body structure model and its manipulator driveLib model library were developed based on the virtual design method in Modelica. Then the algorithm was proposed by the transform the multi-variable function partial differential equations into the transfer function with the Laplace transform, and mechanical motion control model and mathematical coupled relation were developed. The simulating results providing a theoretical basis for the manipulator design show the validity of the model and method.