Research On Control Of 6 DOF Manipulator Based On Electro-Hydrostatic System

In recent years,in many robot technology applications,it is generally required to have the characteristics of large carrying capacity,light weight,and the ability to apply a specific force to its environment,and the system is relatively inexpensive.This article develops a 6DOF hydraulic manipulator based on a hydrostatic system,and conducts kinematic analysis and j oint position control research.It further improves the load capacity of the mechanical arm and improves the trajectory tracking capability of the 6DOF hydraulic robotic arm.First,the hydraulic drive part of the joint is designed according to the Electro-Hydrostatic system,and the structure of a 6DOF hydraulic robotic arm with a lateral end offset of the wrist is designed with reference to the configuration of the non-spherical wrist.Based on Stm32H7,a real-time control system for a 6DOF hydraulic robotic arm is designed,and a lower-level electromechanical control system is developed based on ST's PowerSTEP01 driver chip.Secondly,the positive kinematics analysis of the 6DOF hydraulic manipulator,the Monte Carlo method is used to analyze the working space of the 6DOF hydraulic manipulator,and the vector product construction method is used to solve the Jacobian matrix of the manipulator.Aiming at the problems caused by the inverse kinematics of the 6DOF hydraulic manipulator,a closed-loop damping least squares method is proposed.This method improves the stability of the Jacobian matrix by dynamically adjusting the damping coefficient and avoids the occurrence of singular points.By adding the optimization objective function,the working range of each joint of the 6DOF manipulator is ensured within the specified range.The algorithm is optimized based on the closed-loop solution,which improves the accuracy of the inverse motion solution of the manipulator.Finally,in view of the characteristics of Electro-Hydrostatic system with strong nonlinearity and system parameter uncertainty,the mathematical model of hydrostatic system control is established,and the L1 adaptive control algorithm is proposed to analyze the transient and steady-state performance of the algorithm.A Matlab simulation platform was used to verify the effectiveness of the proposed method.