五自由度电液伺服机械手运动控制系统研制

针对电液液伺服机械手在实际应用过程中存在运动精度低、运动平稳性差,控制模型存在非线性的问题,利用电液液伺服机械手具有负载能力强,能量密度大的优势,对机械手运动控制系统进行了研制。首先采用闭链矢量法对TCP进行了准确的位置矢量表示;其次,引入5阶B样条插值方法和改进型粒子群优化算法,得到了连续的TCP空间位移轨迹,实现了TCP位置的最优轨迹规划;最后,引入常规PID,IL-PID,NDI等控制策略,采用分级控制管理方案,实现了机械手各关节的运动控制,并利用5自由度电液伺服机械手进行了仿真和实际实验。研究结果表明:该运动控制系统能够准确地控制机械手在高负载,高精度要求下进行规定运动。

Five degrees of freedom electrohydraulic servo manipulator motion control system

Aimging at the problems that the electro-hydraulic servo manipulator poor in motion precision and stability and the control model is nonlinear,the advantages of strong load capacity and large energy density was considered,and the manipulator motion control system was designed. Firstly, the position vector of TCP was showed by the method of closed chain vector; Secondly, five order B-spline interpolation method and improved particle swarm optimization algorithm were introduced to realize the optimal trajectory planning of TCP position; Finally, adopting grading control management solution, with conventional control strategy of PID, IL - PID, NDI , was used to realize the manipulator motion control of each joint. With simolation and experimental done in 5DOF manipulator, the results indicate that the motion control system can realize accurately control of designated movement in requirement of high load and high precision.