Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms
Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms
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DOI：
10.3390/robotics7040060
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发表时间：
2018-12-01
期刊：
影响因子：
3.7
通讯作者：
Del Vescovo, Dionisio
中科院分区：
文献类型：
--
作者：
Giorgio, Ivan;Del Vescovo, Dionisio
研究了高柔性平面多连杆机器人手臂的轨迹跟踪与振动控制问题。我们离散的链接根据Hencky杆链模型，这是一个应用程序的集总参数技术。在这种方法中，每个环节被认为是一个运动链的刚体，并添加适当的弹簧，以模拟弯曲阻力。所采用的控制策略是基于一个最佳的输入预成形和关节角度的反馈来处理不希望的干扰的影响。给出了一些数值例子，以显示所提出的控制的潜力，并与一个标准的配置比例微分（PD）控制策略进行比较。特别是，我们研究的情况下，线性和抛物线轨迹的多项式时间法选择，以尽量减少可能的振动发作。
The problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a kinematic chain of rigid bodies, and suitable springs are added in order to model bending resistance. The control strategy employed is based on an optimal input pre-shaping and a feedback of the joint angles to treat the effects of undesired disturbances. Some numerical examples are given to show the potentialities of the proposed control, and a comparison with a standard collocated Proportional-Derivative (PD) control strategy is performed. In particular, we study the cases of a linear and a parabolic trajectory with a polynomial time law chosen to minimize the onset of possible vibrations.