Research On Control Method Of Rigid-flexible Manipulator System With Input-output Constraints

With the widespread application of robotics in equipment manufacturing,aerospace,medical rescue and other fields,the development of high-precision,high-speed,low-energyconsumption robotic systems has attracted much attention in many fields.In the future,robot systems will replace human beings in engaging in complicated and sophisticated work,which will help liberate social productivity,improve work efficiency,and reduce energy consumption.It is consistent with the concept of building a green and efficient society in recent years.It is foreseeable that due to the huge prospects of the robot industry,strong market demand and considerable economic benefits,rigid-flexible coupled manipulator systems are therefore very popular.This paper focuses on the control of a two-link rigidflexible coupled manipulator system with input and output constraints.First,the system structure of a two-link rigid-flexible coupled manipulator is analyzed.Based on the energy of the two-link rigid-flexible coupled manipulator system,combined with the Hamilton principle,a distributed parameter model of a two-link rigid-flexible coupled manipulator system described by ordinary differential equations and partial differential equations is derived.Secondly,based on the distributed parameter dynamic model of the rigid-flexible coupled manipulator system,aiming at the problem of position control of a two-link rigidflexible coupled manipulator system,an anti-saturation control method for a two-link rigidflexible coupled manipulator system with input saturation is proposed.This control method uses direct joint control to apply control torques at the joints of the rigid-flexible manipulator system to achieve the control of the joint angle,while suppressing the vibration of the flexible link,without the need to install an actuator at the end of the flexible link.By introducing a smooth hyperbolic function in the controller,the input saturation constraint problem is solved.Combined with the Lyapunov function and the extended LaSalle invariance principle,the asymptotic stability of the closed-loop system is strictly proved,and the effectiveness of the designed anti-saturation controller is analyzed by numerical simulation results.Thirdly,based on the distributed parameter model of the rigid-flexible coupled manipulator system with external disturbances,aiming at the position control problem of a two-link rigid-flexible manipulator system with external disturbances and output constraints,combined with the practical application of a rigid-flexible coupled manipulator system,an adaptive iterative learning control strategy is proposed,focusing on solving system position control problems,terminal vibration suppression,external disturbance,and output constraints.The controller is also based on direct joint control to achieve the control goal of adjusting the joint angle to the specified position while suppressing system vibration,and solve the system output constraint problem by introducing a performance function,and the adaptive iterative update rate in the controller can effectively compensate for external interference.The stability of the system is proved based on the Lyapunov function,and the effectiveness of the designed adaptive iterative learning controller is verified by numerical simulation.Finally,the research content of this paper is summarized,and future research directions are prospected.