Research On Vibration Control Of Rigid-Flexible Coupling Manipulator Based On Linear Structured Light And Optimized PID

With the progress of materials and science and technology,the engineering field is introducing products with light weight,small volume and high performance,making robot systems more intelligent.The pursuit of more compact and flexible structure makes the system have more flexibility,but it also brings the thorny control problem.With the development of computer and image processing technology,the application of machine vision technology in vibration detection is becoming more and more popular.Machine vision can be divided into monocular,binocular and structured light.Monocular vision refers to the acquisition of external information through a monocular camera,which can obtain two-dimensional plane information but cannot perceive three-dimensional depth information.Binocular stereo vision can realize multi-point measurement at the same time and obtain more abundant vibration information.However,its use is limited to a certain extent when the surface features of the measured object are not obvious.Linear structured light vision measurement combines the characteristics of both camera and structured light,and has the advantages of higher detection accuracy,stronger anti-interference ability,rich information acquisition and non-contact measurement.In this paper,the dynamics modeling of manipulator,vibration detection based on linear structured light technology and active vibration control are studied.First,the vibration characteristics of the cantilever beam are analyzed.The dynamic equations of the double-joint rigid-flexible coupling manipulator arm are obtained by the hypothetical mode method and Lagrange equation,which provides a theoretical basis for the following vibration measurement and control.Second,the composition and working principle of the linear structured light vision system are introduced.In terms of hardware,the camera and laser are selected,a suitable target plane is designed,and an experimental platform for vibration measurement is set up.In terms of software,the camera calibration and laser plane calibration are carried out,the mathematical model of the vibration measuring system is obtained,and the image processing method is designed and the vibration measurement program is developed.The feasibility and accuracy of the vibration measurement method proposed in this paper are verified by designing experiments and comparing with the traditional piezoelectric method.Finally,the principle of PID control and the principle of bacterial foraging algorithm are introduced,and the design of PID controller based on bacterial foraging algorithm is completed.The simulation control system is designed to verify the algorithm control effect.The vibration control experiment platform is built,the control system software development is carried out,and the feasibility of the control algorithm is verified by experiments.Experimental results show that for the first order modal vibration of the flexible arm,the average control effect of the PID control method set by the empirical method is 25.62%,while the average control effect of the PID control method optimized by the bacterial foraging algorithm is 39.32%,which verifies the availability of the bacterial foraging algorithm to optimize the PID controller parameters.Figure[51]Table[12]reference[82]...