单连杆柔性机械臂连续转动控制系统设计

Design of Continuous Rotation Control System for Single Link Flexible Robot Arm Based on B-Spline Curve Fitting

摘要:

单连杆柔性机械臂在连续转动过程中,由于其自身的柔性,会产生弹性变形。这种弹性变形使得机械臂末端运行出现突兀转折曲线,导致该控制系统下机械臂转角误差较大。因此,提出基于B样条曲线拟合的单连杆柔性机械臂连续转动控制系统。在系统硬件部分,针对位置传感器、主控电源和驱动电路进行设计。在系统软件部分,首先运用Euler-Lagrange(欧拉-拉格朗日)方程,构建单连杆柔性机械臂动力学模型。然后基于动力学模型确定多个控制点的空间位置,再采用B样条曲线拟合算法规划机械臂连续转动轨迹。最后结合极点配置方法和模糊规则,构造机械臂连续转动模糊PI控制器。并引入一个以低通滤波器为核心的干扰观测器,通过补偿干扰力矩优化转动控制结果。测试结果表明:该系统在不同工况下完成连续转动控制,转角误差低于10×10-3 rad,更好地满足了柔性机械臂转动工作要求。

Abstract:

During continuous rotation, a single link flexible robotic arm will undergo elastic deformation due to its own flexibility. This elastic deformation causes abrupt turning curves at the end of the robotic arm, resulting in significant angular errors in the robotic arm under this control system. Therefore, a continuous rotation control system for a single link flexible robotic arm based on B-spline curve fitting is proposed. In the hardware part of the system, design the position sensor, main control power supply, and drive circuit. In the system software section, the Euler Lagrange equation is first applied to construct the dynamic model of a single link flexible robotic arm. Then, based on the dynamic model, the spatial positions of multiple control points are determined, and the B-spline curve fitting algorithm is used to plan the continuous rotation trajectory of the robotic arm. Finally, by combining pole placement method and fuzzy rules, a fuzzy PI controller for continuous rotation of the robotic arm is constructed. And introduce a disturbance observer with a low-pass filter as the core to optimize the rotation control results by compensating for the disturbance torque. The test results show that the system completes continuous rotation control under different working conditions, with a rotation angle error of less than 10 × 10-3 rad, which better meets the requirements of flexible robotic arm rotation work.