[1]宁海成.基于非线性微分方程的机械臂运动位置控制方法[J].机械与电子,2022,(11):46-50.
　NING Haicheng.Position Control Method of Manipulator Arm Movement Based on Nonlinear Differential Equation[J].Machinery & Electronics,2022,(11):46-50.
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基于非线性微分方程的机械臂运动位置控制方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年11期
页码:
46-50
栏目:
自动控制与检测
出版日期:
2022-11-25

文章信息/Info

Title:
Position Control Method of Manipulator Arm Movement Based on Nonlinear Differential Equation
文章编号:
1001-2257 ( 2022 ) 11-0046-05
作者:
宁海成
咸阳职业技术学院,陕西 咸阳 712000
Author(s):
NING Haicheng
( Xianyang Vocational Technical College , Xianyang 712000 , China )
关键词:
机械臂; 非线性微分方程; 运动控制; CPG 神经网络
Keywords:
robotic arm ;  nonlinear differential equation ;  sport control ;  CPG neural network
分类号:
TP241
文献标志码:
A
摘要:
针对当前机械臂运动位置控制方法存在机械臂关节节点位置的跟踪效果差和机械臂运动位置控制能力差的问题,提出基于非线性微分方程的机械臂运动位置控制方法。首先对机械臂动力学进行分析,获取内部三连杆结构作用原理和机械臂动力学目标函数,再利用坐标求权矩阵重构机械臂动力学目标函数,获取机械臂相关的非线性微分方程,将非线性微分方程的输出结果,即机械臂动力学参数代入 CPG 神经网络中,构建机械臂运动控制模型。实验结果表明,所提方法的械臂关节节点位置跟踪效果好、机械臂运动位置控制能力强。
Abstract:
Aiming at the problems of poor tracking effect of the joint node position of the robot arm and poor position control ability of the robot arm in the current position control methods of the robot arm, a motion position control method of the robot arm based on the nonlinear differential equation is proposed. Firstly , the dynamics of the manipulator was analyzed , and the mechanism of the internal three-link structure and the dynamic objective function of the manipulator were obtained.Then , the dynamic objective function of the manipulator was reconstructed by the coordinate weighting matrix , and the nonlinear differential equations related to the manipulator were obtained.The output results of the nonlinear differential equation , namely the dynamics parameters of the manipulator , were substituted into the CPG neural network to build the manipulator motion control model.The experimental results show that the proposed method has a good tracking effect of the joint node position of the manipulator , and a strong control ability of the manipulator’s motion position.

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备注/Memo

备注/Memo:
收稿日期: 2021-12-27
作者简介:宁海成 ( 1976- ),男,河南扶沟人,硕士,副教授,研究方向为应用数学、机械控制等。
更新日期/Last Update: 2022-12-13