基于励磁位姿控制的机械球关节系统控制策略研究

Control Strategy Analysis of Mechanical Ball Joint System Based on Excitation Position Control

研究了基于励磁位姿控制的机械球关节系统的控制策略,力求解决传统机械臂旋转关节的机动度不足、用于仿生设计的局限性等问题。设计出球关节的励磁驱动和控制策略,在结构上采用球关节的连接方式,并以电磁力作为驱动力。进行了运动学分析,建立了从笛卡尔坐标系到关节球坐标系的映射关系,然后提出采用步距角细分控制策略对球关节驱动控制进行优化,最后得出的结论是:球关节的设计能够在不增加关节数量的条件下提高机器人的机动度,简化机器人模型,放弃传统电动机驱动有利于增加机器人功重比,为机器人仿生设计提供新的方案。基于励磁位姿控制的球关节系统采用步距角细分优化控制方式,有效解决了球关节在励磁位姿控制下运动精度不足的问题。

This paper studies the control strategy of a mechanical ball joint system based on electromagnetically excited attitude control to solve the problem of lack of maneuverability and bionic design limitations of traditional mechanical arm rotary joints.The excitation driving and control strategy of the ball joint is designed.The structure adopts the connection method of the spherical joint and uses electromagnetic force as the driving force.Kinematic analysis is carried out,the mapping relationship between Cartesian coordinate system and joint ball coordinate system is established,and a step angle subdivision control strategy is proposed to optimize the drive control of the ball joint.The final conclusion is that the spherical joint design can improve the maneuverability of the robot without increasing the number of joints,and can simplify the robot model,and abandon the traditional motor driving method,which is conducive to improving the power-to-weight ratio of the robot,and providing new solutions for robot bionic design.The spherical joint system based on excitation attitude control adopts the step angle subdivision optimization control method,which effectively solves the problem of insufficient motion accuracy of the spherical joint motion under electromagnetic excitation attitude control.