基于迭代学习的柔性机械臂振动联合抑制方法

A Joint Vibration Suppression Method for Flexible Manipulators Based on Iterative Learning

传统柔性机械臂振动联合抑制方法存在振动位移过大的缺陷,机械臂振动联合抑制效果不佳。为此,本文提出基于迭代学习的柔性机械臂振动联合抑制方法。分析柔性机械臂基座和关节重心间的关系,确定柔性机械臂的空间位姿,获取包括弹性变形模量、弹性变形系数、关节动能在内的柔性机械臂关节柔性参数,构建二阶非齐次线性方程,采用迭代学习求解方程的解,实现柔性机械臂振动联合抑制。实验结果表明:在位移跟踪角度60°与90°两种实验条件下,此次设计的柔性机械臂振动联合抑制方法,比奇异摄动方法、改进蚁群算法的振动位移均值分别少4.066 mm和4.255 mm,证明在融合迭代学习算法后,此次设计的柔性机械臂振动联合抑制方法效果更好。

The traditional joint vibration suppression method of flexible manipulator has the defect of excessive vibration displacement,and the joint vibration suppression effect of the manipulator is not good.Therefore,this paper proposes a joint vibration suppression method of flexible manipulator based on iterative learning.The relationship between the base of the flexible manipulator and the center of gravity of the joint was analyzed,the spatial pose of the flexible manipulator was determined,and the joint flexible parameters of the flexible manipulator including the elastic deformation modulus,elastic deformation coefficient and joint kinetic energy were obtained.The second order non-homogeneous linear equation was constructed,and the solution of the equation was solved by iterative learning to realize the joint vibration suppression of the flexible manipulator.The experimental results show that,under the two experimental conditions of displacement tracking angles of 60°and 90°,the vibration joint suppression method designed by the flexible manipulator has less mean vibration displacement than the singular perturbation method and the improved ant colony algorithm.4.066mm and 4.255mm,proving that the combined vibration suppression method designed by this flexible manipulator is more effective after the fusion of iterative learning algorithm.