Precision Accuracy Control Of Six Degrees Of Freedom Manipulator Series

The subject comes from the National Natural Science Foundation Project(Project Number:51375519).In this paper,a series manipulator system for the study,theoretical analysis,simulation and experimental combination of methods aimed at improving the accuracy of the series arm movement.Including: Dynamic Modeling arm,accuracy analysis,simulation,numerical calculations and intelligent control,visual servo control for realizing the series to improve arm movement precision.The main contents are summarized as follows:1.Discussed the problem of position and orientation precise under unknown load parameters of manipulator.Aimed at the situation of unknown clamping load parameters of overloaded manipulator end effector.Designed a complex control scheme based on nominal sliding computed torque controller with neural network compensator,by using sliding neural networks to compensate for the error influence of nominal calculations torque due to system unknown parameters.To ensure asymptotic stability of the whole control system the in case of unknown parameters.Methods mentioned,can effectively control the position and orientation of the overloaded manipulator system,and the system does not require a significant advantage on the kinetic equation inertial coefficients of linear function.2.To solve the information and motion coupling problems in visual servo processing with multiple cameras,a novel decoupling coordinated control strategy was proposed and a phase-control system was designed for the physiological regulation of bilateral collaboration decoupling mechanism of human body.It was designed to operate in combination with the control features of multi-camera system.The performance of proposed decoupling coordinated control system was verified using manipulator.3.Through Matlab simulation,realized in unknown payload parameters,the end effector motion accuracy tandem lifting arm.And in different simulation conditions,we calculated and plotted ways to build three different visual servo system to verify the effectiveness of the proposed method to achieve the six degrees of freedom manipulator end-effector motion series precision optimization.