Flexible Manipulator Modeling And Motion Control Of The Ball Processing Center Study

At present, the production process of making the ball is mechanization, lower automaticity, bigger labor quantity, higher labor intensity. In this article, the processing center of ball manufacture has these characteristics, such as: centralized working procedure, higher automaticity, smaller, labor,quantity, higher production efficiency, it is the development direction of the ball manufacture. Because the flexible mechanical arm has the characteristic of light quality, reaching the space broadly, operateing nimbly, small actuation power. In this article, the shipping installment of the processing center of ball manufacture usies double connecting rod flexible mechanical arm.According to the work requirement of the processing center of ball manufacture to the mechanical arm, In this article, the flexible mechanical arm makes the dynamics modelling and the research of movement control strategy. In this article, sigle flexible mechanical arm is regarded as the Euler-Bernoulli Liang, using the inspire form function express the elastic deformation of the flexible arm, this flexible mechanical arm dynamics model is established with the Lagrange equation.This flexible arm control is rests on the flexible arm dynamics model, with the strange perturbation theory, it is diveded into two sub-systems (slow, quick change) .When design the controller of the slow change sub-system, considering the slow change subsystem model equals to the rigid mechanical arm model, it uses the non-strange terminal slip form control; after the quick time-variable subsystem is transformed, it assumes the linear system, therefore uses the optimum control. Finally carry on the simulation separately with MATLAB/SIMULINK, the indicats that the method of unifies the non-strange Terminal slip form control and the optimum control the mixture control not only able to realize the fast, accurate track for the flexible arm path, which suppresses the elastic vibration effectively, but also has the very strong robustness.