基于最小二乘法的桥式起重机机械臂关节控制系统设计

Design of Joint Control System of Bridge Crane Manipulator Based on Least Square Method

机械臂关节控制过程存在姿态误差,提出基于最小二乘法的桥式起重机机械臂关节控制系统设计;设计机械臂总体架构,达到级联组成末端位姿目的,使用全驱动灵巧手,包含1手掌和3手指,采用多个连杆串并联混合的形式传递运动和力矩,借助AT89C51单片机设计电路结构;采用最小二乘法构建机械臂的响应面模型,通过H-D参数法计算机械臂末端运动关节间位姿误差,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,将机械臂运行速度数据记录在控制系统平台中,根据机械臂运行速度信息获取其均匀性控制状况,实现控制;激光测振仪的输出单位为1 mm/V,柔性机械臂的振动周期200 ms,训练样本集大小为300,测试集样本大小为100,实验结果可表明,该方法机械臂关节运动拟合度与实际情况基本一致,位置跟随误差见效时间需要0.05~0.2 s,之后位置跟随误差便能够保持在较小的范围之内。

There are attitude errors in the control process of the manipulator.The design of the joint control system of the bridge crane based on the least square method is proposed.The overall structure of the manipulator is designed to achieve the goal of cascading the end pose.A fully driven dexterous hand,including one palm and three fingers,is used to transfer motion and torque in series and parallel with multiple connecting rods.The circuit structure is designed with the help of AT89C51 single chip microcomputer.The least square method is used to construct the response surface model of the manipulator,and the H-D parameter method is used to calculate the pose error between the joints of the end of the manipulator.The DETMAX algorithm is used to analyze the motion parameters and realize the minimum attitude selection.The data of the manipulator running speed are recorded in the control system platform,and the uniformity control status is obtained according to the operating speed information of the manipulator Control.The output unit of the laser vibration meter is 1 mm/V,the vibration period of the flexible manipulator is 200 ms,the training sample set size is 300,and the sample size of the test set is 100.The experimental results show that the fitting degree of the joint motion of the manipulator is basically consistent with the actual situation.The effective time of the position following error needs 0.05~0.2 s,and then the position following error can be kept in a small range.