Research On Trajectory Tracking And Compensation Compensation Control For Vehicle-mounted Flexible Manipulators

With the development of science and technology, the robot becomes anindispensable part of our life and production. At first, the robot can only do simpletasks and repeat a single instruction with low degree of automation. With the advanceof electronic science and technology, all kinds of high intelligent robots are applied inmany fields. In terms of mechanical arm system, relatively early vehicle mechanicalarm is composed of larger weight rigid arm. Due to its heavy weight, the responsespeed and service life have some defects, flexible mechanical arm gradually becomesa research hotspot.Flexible manipulator system is applied to the vehicle platform. As the weight ofthe flexible arm is light, it has a lot of advantages like short corresponding time, longservice life and wide scope of work. The advantage of vehicle flexible manipulator isable to complete higher progress of the task at work. But there are also a lot ofproblems which need to handle in the system and solve the problems when vehicleflexible mechanical arm is at work.It will produce elastic deformation and vibration because of its flexible features,and there is uncertainty and external disturbance which affects the control precision inthe actual car flexible manipulator system. If the vehicle flexible manipulator workswith high precision trajectory as expected, it needs to compensate the uncertainty andexternal disturbance. So the trajectory tracking controller and the compensationcontroller should be designed.This article mainly researches the trajectory tracking control and compensationcontrol problem for vehicle flexible manipulator system. The research content is asfollows:First of all, this article gives a structure diagram for the vehicle flexiblemanipulator system. According to the diagram, the vehicle flexible manipulator system model is briefly introduced. Forward kinematics model is established by theD-H method, and then the inverse kinematics model is derived based on the inversetransform method. By assuming the modal method and Lagrangian method, thedynamic model of vehicle flexible manipulator system can be obtained.Secondly, there are uncertainty and unknown disturbance in the system whichreduces the control accuracy of the system. In order to solve the above problems, inview of the vehicle dynamic model of flexible manipulator, the system is decomposedinto two parts. One part contains uncertainties and the other part contains unknowndisturbance. In view of the system after decomposition, a fuzzy adaptivecompensation controller is designed. Uncertainties and unknown disturbances areestimated with the fuzzy system, and the estimation error is adaptively compensated.The trajectory tracking compensation control of vehicle flexible manipulator system isrealized. The simulation results verify the effectiveness of the controller.Then the vehicle flexible manipulator system is decomposed two parts based onthe theory of two kinds of time scale and singular perturbation theory. One part is theslow time scale subsystem (characterization of a wide range of rigid arm movement),the other part is the fast time scale subsystem (characterization of the flexiblevibration). The slow time scale neural network adaptive controller subsystem isdesigned to realize the trajectory tracking control. The fast time scale subsystem isdesigned to realize the flexible vibration active control. Simulation experiments showthe effectiveness of this method.Finally, this paper made the summary of the main part, and some aspects to bestudied in the future were also discussed.