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Dimensionality reduction and control of spectral method based on the rigid-flexible manipulator model

Author: PanYun
Tutor: DengHua
School: Central South University
Course: Mechanical and Electronic Engineering
Keywords: Rigid-flexible manipulator experimental platform Dynamic modeling Spectrum method to reduce Trajectory control Experimental verification
CLC: TP241
Type: Master's thesis
Year: 2011
Downloads: 67
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Abstract


Which constitutes With the development of science and technology, defense, industrial and other applications on the equipment the flexibility, speed and running accuracy requirements are getting higher and higher, more and more lightweight and flexible structures in engineering; flexible multi-body dynamics systems or rigid-flexible coupling dynamic system, flexible manipulator is a typical representative of such systems. Have a strong engineering background in aerospace, robotics and many other defense industry, its dynamics modeling, model drop-dimensional trajectory control research has important theoretical significance and practical value. Fully draw on the research results of the flexible multi-body system shows that the number of dimensions of the flexible multi-body dynamics model using spatial discrete method is generally higher; easy system dynamic analysis and control of high precision in order to get the low-dimensional approximation model proposed a theoretical model based on temporal and spatial separation of the spectral method and Galerkin truncation dimensionality reduction method to reduce the dimension of the flexible multi-body dynamics model. Paper design and build a rigid-flexible manipulator experimental platform and its kinetic modeling, model dimensionality reduction and trajectory control study to explore and practice and to carry out experimental research, specific research be summarized as follows: ( 1) According to the research object and purpose of the design of the overall program of the rigid-flexible manipulator experimental platform to establish and determine the three-dimensional model and drive solutions; the robot bench kinematics and design, space research and analysis. (2) rigid - flexible two-link arm robot experiment bench consisting of rigid-flexible coupling of infinite dimensional distributed parameter system as the research object, the Lagrange equation obtained by the dynamic equation of the form of partial differential equations. Theoretical model based on temporal and spatial separation of the spectral method and Galerkin truncation dimensionality reduction method to reduce the dimension of the continuous infinite dimensional kinetic equation, get that deformation of the rigid-flexible coupling system features high-precision low-dimensional approximation model. And rigid - flexible two-link arm rigid-flexible coupling characteristics for the simulation analysis. (3) rigid - flexible two-link arm model of non-minimum phase characteristics, time-varying parameters, strong nonlinearity, the output redefinition method to eliminate the system output at the end of the non-minimum phase characteristics, and then using the input-output linearization dynamic model of partial linearization, divided into two parts of the input and output subsystems and within the dynamic subsystem; input-output subsystem using the inverse dynamic sliding mode controller, within the dynamic state feedback controller subsystem calm. The simulation study results show that the proposed control strategy has good dynamic performance and robustness performance. (4) on the rigid-flexible manipulator experimental platform to build the experimental studies, the experimental results verify the effectiveness of the model dimension reduction method based on spectral theory of Galerkin truncation low-dimensional approximation kinetic model. The results of this study engineering practice similar object modeling, the model dimensionality reduction and control of some reference. Drop-dimensional control problem is a challenging research topic due to the flexible multi-body dynamics system dynamics modeling, many problems still need further research and discussion.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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