Boundary Control Design Of The Flexible Manipulator And Its Application In A Laboratory Platform

The manipulator is one of the key components of the robot,and it is also a kind of very practical robot system.As a result,it has been paid more and more attention and research.In the traditional field,the mechanical arm is used for machine tooling and equipment,printing circuit,assembling parts,loading and moving dangerous goods and so on.On the other hand,with the rapid development of science and technology,human's interest is becoming more and more extensive,especially for the competition of outer space resources.However,the harsh conditions in the space environment have been important factors restricting the development and application of the space manipulator.At present,the rigid arm is still a class of widely used mechanical arm in many fields.For the rigid arm,you can ignore the elastic vibration of the arm,and easily build the system model and implement control strategies.Compared to the conventionally heavy and bulky rigid-arm manipulator,the elastic-link robotic manipulator enjoys unique benefits such as lower energy consumption,higher operation speed,better maneuverability,and better transportability.When the whole robot technology is further moving towards the direction of high speed,heavy load,light material,low energy consumption,the application field of the rigid arm will be drastically limited by its inherent shortcomings.Therefore,the development of flexible arm becomes more and more urgent.However,the advantages of flexible arm in the structure make the system more susceptible to its own flexible structure and working environment.The flexible arm is also easy to generate large deflections and vibrations after a move is completed,which will destroy the stability and reduce control accuracy of the system,and even damage the system equipment.In the end,it's possible to bring great loss to production.In general,how to effectively achieve the purpose of flexible arm's mathematical modeling and system vibration suppression has great challenging and utility value.These are two types of urgent problems on the study of flexible arm.In this paper,the main content includes dynamical modeling,control design,stability analysis,numerical simulations and physical experiment of a flexible robotic manipulator.The flexible manipulator system model with nonlinear and time-varying characteristics,belongs to a typical distributed parameter system.In order to more truly describe the structure of the system,the actual physical model can be expressed by a partial differential equation(PDE)and a set of ordinary differential equations(ODEs).The boundary controller is designed and the system convergence and stability are verified by using Lyapunov's direct method and backstepping method.Then,numerical simulations and experiment validation demonstrate the effectiveness of the proposed boundary control.The core content is the boundary control method and the realization of control strategy on experimental platform in this paper.The control objectives are to develop the control law so that the manipulator can move to the desired set-point,and the vibration can be minimized.The effectiveness and feasibility of the proposed control strategy is demonstrated by the combination of theoretical simulations and experimental results.Also the control effects of the Backlash nonlinear characteristic in the system are fully taken into consideration.Based on the boundary control,a more optimized control strategy is proposed to solve the Backlash nonlinear problems.Finally,the feasibility of boundary control is fully verified by comparing the results of MATLAB simulation and experiment.And in the case of considering the Backlash,the improvement of the control effect is visualized by comparing the simulation and experiment of the two kinds of control strategies.