基于三次S型速度控制算法的移动机械臂末端振动研究

Research on Vibration of Mobile Manipulator End Based on Cubic S-shaped Speed Control Algorithm

移动机械臂在实际工作环境中,受其自身柔性特征和外部因素的影响而引起机械臂末端的振动,而速度控制是实现机械臂末端抑振的有效手段之一。以UR10机械臂和Husky移动平台组成的移动机械臂为研究对象,针对梯形和S型速度控制算法的不足,提出一种三次S型速度控制算法,通过建立移动机械臂刚柔耦合动力学的理论和仿真模型得到移动机械臂末端的振动位移曲线和加速度变化曲线,验证了三次S型速度控制算法的正确性和抑振效果的有效性。

In the actual working environment,the mobile manipulator is affected by its own flexibility characteristics and external factors,which cause the vibration of the end of the manipulator,and speed control is one of the effective means to suppress the vibration of the end of the manipulator.Taking the mobile manipulator composed of the UR10 manipulator and the Husky mobile platform as the research object and aming at the shortcomings of the trapezoidal and S-shaped speed control algorithms,proposes a cubic S-shaped speed control algorithm.The theory and simulation model of rigid-flexible coupling dynamics of the mobile manipulator are established to abtain the vibration displacement curve and acceleration curve of the end of the mobile manipulator.The correctness of the cubic S-speed control algorithm and the effectiveness of the vibration suppression effect are verified.