Research On Vibration Control Of Double Joint Flexible Manipulator Based On Binocular Machine

With the rapid development of artificial intelligence and materials science and technology,flexible materials are widely used in the industrial field represented by aerospace and intelligent manufacturing.Among them,there are many flexible structures such as flexible robotic arms.The widespread use of flexible structures in the industrial field has improved work efficiency and reduced use costs.However,such flexible structures have low stiffness,small structural damping,and low-frequency modal denseness.When they are excited by the outside,they will produce long-term chatter vibrations,which may easily cause structural damage due to fatigue damage.So,the control of such flexible structures is crucial.Aiming at the problem of vibration control of flexible structures,this paper takes two-joint flexible manipulators as research objects,and studies three aspects of structural dynamics modeling,binocular vision vibration non-contact measurement and intelligent control algorithms.First,the deformation of the flexible manipulator is described for the modeling of the system by using the tangent coordinate method.The vibration characteristics of the structure are analyzed based on the hypothetical modal method and the Lagrange equation,which provides a theoretical basis for the subsequent active vibration control.Then,a binocular vision double-joint flexible robotic arm vibration displacement measurement experimental platform was set up to calibrate the binocular camera.A binocular vision measurement program based on LabVIEW was written,and four groups of experiments were performed to collect the vibration displacement of the flexible manipulator.The binocular vision measurement result is compared with the piezoelectric sheet measurement result.The experiment shows that the average difference rate between the two measurement results is 5.99%,which verifies the feasibility and accuracy of the binocular vision vibration measurement system.Finally,the principles of PID control and differential evolution algorithm are briefly described.A PID controller optimized based on differential evolution algorithm is designed.Controller parameters are optimized and simulated to obtain the optimal PID control parameters,with PID control parameters as the individual population,vibration control errors as the fitness.A vibration measurement and control experimental platform for a flexible robotic arm based on binocular vision was set up.The binocular vision vibration displacement measurement result was used as the controller input,and the control output was output through a data output card,which was amplified by a power amplifier to act on a piezoelectric actuator to achieve vibration Active control.The experimental results show that the average vibration attenuation rate of the first-order mode of the double-joint flexible manipulator is 37.38%,which has a good vibration control effect.Figure[41]table[9]reference[85]...