TY - GEN
T1 - The study of dynamics modeling and composite control for large load robot
AU - Zhang, Fuli
AU - Yuan, Zhaohui
AU - Dong, Sheng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - Robot is a hot topic in modern research. To meet the requirements of large power, high energy, large load and high speed, hydraulic driven manipulator is a priority. However, the micro deformation of manipulator under large load cannot be ignored. Therefore, dynamic modeling and control of large load manipulator are studied in this paper. Firstly, the force of large load manipulator is analyzed, and a reasonable mode is selected for the kinematic analysis of the deformation of the large load manipulator. Considering the damping factor, the dynamic model of large load manipulator is constructed by using the Lagrange method. Then, the coupling dynamic system of the manipulator is decomposed into two subsystems by using the small parameter perturbation method, and the complex control of large load manipulator system is carried out by using the inversion sliding mode control and LQR respectively. Finally, the effectiveness of the modeling and the feasibility of the control system are verified by simulation. It is of great significance for the theoretical research and control of hydraulic flexible manipulator.
AB - Robot is a hot topic in modern research. To meet the requirements of large power, high energy, large load and high speed, hydraulic driven manipulator is a priority. However, the micro deformation of manipulator under large load cannot be ignored. Therefore, dynamic modeling and control of large load manipulator are studied in this paper. Firstly, the force of large load manipulator is analyzed, and a reasonable mode is selected for the kinematic analysis of the deformation of the large load manipulator. Considering the damping factor, the dynamic model of large load manipulator is constructed by using the Lagrange method. Then, the coupling dynamic system of the manipulator is decomposed into two subsystems by using the small parameter perturbation method, and the complex control of large load manipulator system is carried out by using the inversion sliding mode control and LQR respectively. Finally, the effectiveness of the modeling and the feasibility of the control system are verified by simulation. It is of great significance for the theoretical research and control of hydraulic flexible manipulator.
KW - compound control system
KW - Dynamic modeling
KW - Robots
UR - http://www.scopus.com/inward/record.url?scp=85092722573&partnerID=8YFLogxK
U2 - 10.1109/ICPICS50287.2020.9202147
DO - 10.1109/ICPICS50287.2020.9202147
M3 - 会议稿件
AN - SCOPUS:85092722573
T3 - Proceedings of 2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020
SP - 77
EP - 83
BT - Proceedings of 2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020
Y2 - 28 July 2020 through 30 July 2020
ER -