General Synchronization Research On Mechanical Dynamic System Of Robots

Synchronized phenomena, which exist in nature, life sciences, engineering technology, and social and economical activities vastly, can be characterized by the appearance of certain relations between some functionals for the processes based on time. The significance of synchronization is not only valuable in practice but can be demonstrated by theory. In modern mechnical systems, a multi-composed system usually executes a task by synchronization, coordination and cooperation. For example, assemblage, transportation, spray, jointing, as well as the joints of robot rotating synchronizedly according to track programming. The research on synchronization of robot dynamic system plays a key role in manufacturing and space engineering, whilst it expands the application of robotic synchronization and deepens the understanding of synchronized theory.In this paper, based on robotics, modern control theory, system stability theory, the research focuses on the external synchronization of master-slave system. Dynamic model, external synchronization controller and stability of control system are studied repectively for AS-MRobot system, which pave the road to achieve comparison between experiments and simulation with synchronized control. The main content of this paper is following:Considering the rigid AS-MRobot with 3 freedoms, the dynamic equation is built according to robotic kinematics and dynamics. The Lyapunov function is constructed in order to demonstrate the asymptotical stability of robotic closed-loop control system. As the foundation of following experiment, the friction compensation method and the structure of AS-MRobot control system are introduced.In order to realize the synchronized control goal, a controller based on all states observed is designed. The referred simulation is done on a master-slave system. A nonlinear hysteretic system is chosen as master, which can imitate the friction phenomenon of robotic joint, while a Duffing system is taken as slave. The simulation indicates that the controller is applicable as well as for the inverse process. The influence of controller's parameters is discovered, which can affect the transfer time of synchronization.With the respect of model error of dynamic mathematic model and disturbance from uncertain element, a kind of robust synchronized track control method is involved in this paper. Furthermore, the OPCL method, which is usually used for complicated dynamic systems, is also involved into the robotic synchronized track control. The above two methods are validated by simulation. Finally, the adaptive synchronized control for robots is studied including the MRAC based on PD gain adaptive tuning and robust MRAC. The design of reference model, PD adaptive controller and stability method are analyzed respectively. Likewise, the joint track of AS-MRobot is simulated using the adaptive method in order to validate its application.In this paper, three generalized methods about robotic external synchronized control are studied. From the aspects of building robot dynamic model, designing synchronized controller, establishing system stability and simulating validation, the whole process of synchronization of robot dynamic system is investigated deeply, which will promote the future work of master-slave robots'internal/external synthronization and multi-robots system synchronization research, meanwhile establish a strong background for the following robot synchronized experiment.