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Obstacle avoidance dynamic control of manipulator based on space operator algebra

机译：基于空间算子代数的机械手避免动态控制

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摘要

The traditional manipulator obstacle avoidance dynamics control method ignores the acceleration constraints and speed constraints of the joint obstacle avoidance, and judges the equivalent moment of inertia inaccurately, which leads to large fluctuations in the driving torque of the manipulator motor, and high maximum driving torque and acceleration peaks. Therefore, a dynamic control method of manipulator avoiding obstacles based on space operator algebra is proposed. Using the space recursion method, according to the dynamic space operator algebra system, the manipulator dynamics model is obtained, PID parameters are adjusted, and the model is controlled by three-loop closed-loop PID control to obtain the joint torque under different obstacle avoidance states, and calculate the torque feedforward. The channel transfer function enables the moment to act on the joints of the manipulator to achieve the equivalent moment of inertia control target, to identify and finely control the moment parameters, and to plan the obstacle avoidance trajectory of the manipulator. A parallel manipulator was selected for comparison experiments. The results show that the design method reduces the motor torque ripple, the maximum driving torque, and the acceleration peak in the motion trajectory plane, so that the manipulator has better motion smoothness, reduces motor energy loss, and improves dynamic performance.
机译：传统的机械手障碍物避免动力学控制方法忽略了联合障碍物避免的加速度约束和速度约束，并且不准确地判断惯性矩，这导致机械手机的驱动扭矩和高最大驱动扭矩的波动大。加速峰值。因此，提出了一种避免基于空间算子代数的障碍物的动态控制方法。使用空间递归方法，根据动态空间运算符代数系统，获得了操纵器动力学模型，调整了PID参数，该模型由三环闭环PID控制控制，以获得不同障碍物的关节扭矩状态，并计算扭矩馈电。通道传递函数使得当时的时刻采用操纵器的关节以实现惯性控制目标的等同力矩，以识别和精细控制矩参数，并计划操纵器的避免轨迹。选择平行操纵器进行比较实验。结果表明，设计方法降低了运动轨迹平面中的电动机扭矩脉动，最大驱动扭矩和加速度峰值，使得操纵器具有更好的运动平滑度，降低电动机能量损失，并提高动态性能。

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