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The Dynamic Response Control of Flexible Manipulator

Author: LiuZhiHu
Tutor: LiuMingZhi
School: Xi'an University of Electronic Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Flexible Manipulator Neural Networks Intelligent Control Trajectory Tracking
CLC: TP241
Type: Master's thesis
Year: 2009
Downloads: 190
Quote: 2
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Abstract


Flexible manipulator as the most typical flexible multi-body system , is widely used as a model of flexible multi-body system . However , due to the flexible manipulator contains some flexible unit , in the course of the campaign will produce distortions , such as elasticity , shear deformation , which brought many difficulties to the type of analysis and control of flexible manipulator . Based on the structural characteristics of the flexible manipulator , the use of flexible multi-body system dynamics , the three joints flexible manipulator as Euler-Bernoulli beam model , using the the modal assumption Act and the recursive method to flexible manipulator joint angle parameters flexible manipulator system dynamics model . System Newmark method numerical dynamic response analysis of the flexible manipulator motion process , state the amount of the response curve , according to the simulation results to verify the correctness of the model . And without considering the manipulator of flexible manipulator system identification, the iterative step by step in the recognition process to keep track of the end of the predetermined trajectory planning optimal joint angular displacement of the flexible manipulator CMAC neural network method . Finally, according to the planned joint angular displacement of the neural network prediction control, to scroll through a combination of optimization theory , intelligent control system design of a neural network for flexible manipulator trajectory tracking adjustment dynamic optimization . Computer simulations show that the control system can control the robotic arm to precisely track the desired trajectory .

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