基于反演法的矿用机械臂关节位置控制方法

Position Control Method of Joint of Mining Manipulator Arm Based on Inversion Method

针对矿用机械臂关节内部的柔性元件可导致机械臂末端位置无法实现精准控制的问题,对机械臂柔性关节的位置控制方法进行研究,基于拉格朗日动力学模型构建方法,建立融入机械臂关节柔性特性的关节动力学模型,并且与反演法原理进行结合,创新性地提出基于反演法的矿用机械臂柔性关节位置控制方法(IM-PCM),使机械臂关节柔性造成的末端位置控制精确性不足问题得到改善。通过MATLAB软件中的SIMULINK平台对IM-PCM的控制效果进行仿真分析,结果表明IM-PCM能够使矿用机械臂末端位置得到精确控制。

In response to the problem that flexible components inside the joints of mining manipulator arm lead to can not be accurately controlled of the end position of the manipulator arm,the position control method of flexible joints of manipulator arm was research.Based on the Lagrangian dynamic model construction method,a joint dynamic model incorporating the flexible characteristics of the manipulator arm joints was established,and combined with the principle of the inversion method,an innovative position control method of flexible joint of mining manipulator arm based on inversion method(IM-PCM)was proposed,which the accuracy of end position control affected by the flexibility of the manipulator arm joints was improved.The control effect of IM-PCM was simulated and analyzed by SIMULINK platform in MATLAB software.The results demonstrate that IM-PCM can achieve precise control of the end position of mining manipulator arm.