P-Rob Manipulator Kinematics And Dynamics Modeling And Anti-interference Control

With the advancement of science and technology,the intelligent robot industry has developed rapidly and is gradually applied to various major industries.The robotic arm is an important actuator of the robot.The tasks completed by the robot instead of human are all completed by the robotic arm.Therefore,the development of the robot can be said to depend on the development of the robotic arm.In this paper,based on the Personal Robotics(P-Rob)six-degree-of-freedom manipulator produced in Switzerland,in order to solve the problems of complex inverse kinematics,time-consuming path planning algorithm,unknown precise dynamic model,and many interferences in the movement process of the six-degree-of-freedom manipulator system,the theoretical model construction and algorithm design of the system are carried out,and the dynamic control problem of the P-Rob model with flexible joints is studied.The main research content can be divided into the following parts:1.For the P-Rob system kinematics modeling problem,first use the standard Denavit-Hartenberg(D-H)method to obtain the transformation relationship between the system base and the end effector,and then obtain the system forward kinematics equation.Then an improved method for solving inverse kinematics equations based on the end position is proposed,which simplifies the complexity of solving traditional analytical methods using only continuous left-multiplying invertible matrices,and 8 sets of inverse solutions are obtained.The improved method for solving inverse kinematics improves computational efficiency.Finally,based on the robot toolbox in the simulation software,the P-Rob kinematics model is established,which verifies the reliability of the forward and inverse kinematics analysis model.Aiming at the problem of P-Rob system motion planning,the joint space and Cartesian space trajectory planning are used to analyze and simulate the manipulator,and the trajectory planning algorithm suitable for the researched system is explored.Due to the drawbacks of the traditional fast-expanding random tree path planning algorithm,an improved fast-expanding random tree algorithm is proposed,which improves the path searching efficiency of the robotic arm.2.For the dynamics research of the P-Rob system,based on the Lagrange energy equation,the P-Rob six-degree-of-freedom manipulator system is solved in detail,and the specific system matrix is obtained.Considering the external disturbance in the system,the interference observer is designed to estimate the modeling error of the system model and the external disturbance,and then the stability of the designed disturbance observer is verified.On this basis,an integral sliding mode controller is designed to enable the system to track the desired trajectory smoothly in a short period of time,and a comparison experiment with traditional sliding mode control is carried out.3.For the research on the P-Rob system with flexible joints,firstly,the sixth joint of the robotic arm is changed to a flexible joint,and the last joint becomes a coupling joint of a rigid link and a flexible joint,thereby,the gripping flexibility of the robotic arm system is enhanced,power consumption is reduced,and the shortcomings of pure rigid joints such as large inertia,bulkiness and stiffness are overcome.Then the dynamic modeling of the flexible joints of the modified P-Rob system is carried out.Considering the presence of disturbances,an integral sliding mode control algorithm based on the disturbance observer is designed to make the flexible joints operate more stably.4.In view of the verification problem of the theoretical algorithm designed in the system,the simulation verification is first obtained in Matlab.Then,the physical grasping,putting back and obstacle avoidance and anti-interference experiments are carried out on the actual model of the P-Rob system.The motion planning algorithm and control algorithm designed in this paper have been further confirmed,and they can be applied to the trajectory tracking problem of the manipulator,realizing the application of theory to practice,and providing greater reference value for the later research of the manipulator.