[1]李妮.基于梯度函数的多自由度机械臂关节角度自动控制[J].机械与电子,2023,41(08):19-23.
　LI Ni.Automatic Control of Joint Angle of Multi-degree-of-freedom Manipulator Based on Gradient Function[J].Machinery & Electronics,2023,41(08):19-23.
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基于梯度函数的多自由度机械臂关节角度自动控制()

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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

Title:: Automatic Control of Joint Angle of Multi-degree-of-freedom Manipulator Based on Gradient Function

Author(s):: LI Ni; ( School of General Education , Xi ’an Mingde Institute of Technology , Xi ’an 710124 , China )

Keywords:: gradient function ; neural network algorithm ; multi-degree-of-freedom manipulator ; link motion ; joint angle control

摘要:: 在多自由度机械臂运动过程中,易受到多连杆之间耦合作用的影响,导致多自由度机械臂关节角度控制效果和运动轨迹跟踪效果较差。为此,提出了基于梯度函数的多自由度机械臂关节角度自动控制方法。通过分析连杆运动和关节运动,建立多自由度机械臂动力学模型,获取影响多自由度机械臂关节角度的重要因素。在此基础上,基于梯度函数,结合神经网络算法,获取连杆和关节的控制策略,构建关节角度控制模型,实现多自由度机械臂关节角度自动控制。实验结果表明,所提方法能够有效实现多自由度机械臂关节角度自动控制,且具有较好的关节角度控制效果和运动轨迹跟踪效果。

Abstract:: In the process of motion of the multi-degree-of-freedom manipulator , it is easy to be affected by the coupling effect between the multi links , resulting in poor joint angle control effect and motion trajectory tracking effect of the multi-degree-of-freedom manipulator.Therefore , an automatic control method of joint angle of multi-degree-of-freedom manipulator based on gradient function is proposed. By analyzing the link motion and joint motion , the dynamic model of the multi degree of freedom manipulator is established , and the important factors affecting the joint angle of the multi degree of freedom manipulator are obtained.On this basis , based on gradient function , combined with neural network algorithm , the control strategy of link and joint is obtained , the joint angle control model is constructed , and the automatic control of joint angle of multi degree of freedom manipulator is realized.The experimental results show that the proposed method can effectively realize the automatic control of joint angle of multi-degree-of-freedom manipulator , and has good joint angle control effect and motion trajectory tracking effect.

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备注/Memo:: 收稿日期: 2022-09-02
基金项目: 2020 年陕西省教育厅专项科研计划项目( 20JK0953 )
作者简介:李妮 ( 1985- ),女,陕西西安人,硕士,讲师,研究方向为不确定性控制系统的理论研究与应用。

更新日期/Last Update: 2023-09-07