Research On Servo Control System Of Pneumatic Lightweight Mechanical Arms

In recent years,with the increasingly serious aging trend and the urgent need of disabled people to raise their standard of living,the demand for the service robot in nursing and helping the disabled increases rapidly,on the other hand,the current industrial robot with poor human-machine collaboration and other security problems,makes it a hot direction for scholars to research.Aiming at the high requirements of service robot for system flexibility and safety,it analyzed and studied the research status at home and abroad,and combined the advantages of modern pneumatic technology to carry out the research on the servo control system and collision detection method of pneumatic driven lightweight mechanical arm.The 2 DOF lightweight mechanical arm prototypes were designed and manufactured,the kinematic and dynamic equations of the mechanical arm were established,the position servo control system based on dynamics was explored,and the friction torque of the system was identified.PID and acceleration feedback and friction feed-forward control strategy were adopted to solve the problem of low-speed crawling in the process of mechanical arm joint rotation.The trajectory obtained by inverse kinematics and interpolation algorithm was studied to obtain better robustness and stability.Aiming at the problem of human-machine safety of robot,the anti-collision function of the robot arm was realized by using the passive pliant control and the collision detection method based on the dynamic equation to improve the safety of the system.Finally,the experimental prototype was tested by a semi-physical simulation platform,which proved the effectiveness of its position servo control strategy and collision detection method.Meanwhile,the practicability and safety of the pneumatic lightweight mechanical arm under human-machine interaction were verified.