| Under the background of the rapid development of today’s society,artificial operation increasingly can not meet the needs of industrial production.The intelligent needs of human production and life make robots quickly enter the public’s field of vision,which has attracted the extensive attention of scholars at home and abroad.The research background of this paper is to design an equipment recovery device which is composed of gantry and end grab manipulator.The movement of end manipulator is a complex space movement involving multiple degrees of freedom.Therefore,it is necessary to design appropriate control strategy to make the end manipulator reach the designated operation position accurately.In this paper,the kinematics and dynamics characteristics of the 5-DOF series manipulator,as well as the fault-tolerant control and trajectory tracking in complex environment are studied in detail.Because the screw method only needs to establish the inertial coordinate system and tool coordinate system to obtain the complete geometric description of the mechanism,this paper uses the screw method to solve the forward kinematics solution of the five degree of freedom series manipulator,and obtains the real-time position and motion trajectory of the manipulator end,which is verified by Solid Works and MATLAB simulation.Monte Carlo method is used to analyze the workspace,draw the scatter diagram of the workspace,and optimize the workspace to get a clear envelope surface.The inverse kinematics of the manipulator is analyzed,and the real-time position of each joint is deduced by Paden Kahan subproblem method and the structural characteristics of the manipulator.In the analysis of the dynamics of the manipulator,this paper establishes the dynamic model of the manipulator by using the Lagrange equation combined with the screw theory.In view of the complexity of the dynamic equation of the five degree of freedom manipulator,this paper simplifies the dynamic equation reasonably,and achieves a more stable output torque through trajectory planning in the simulation test.Aiming at the nonlinear control of the manipulator,this paper first establishes the T-S model of the manipulator,designs the PD controller based on the T-S model,and designs the sliding mode control based on the T-S model to solve the problem that the PD controller has insufficient ability to suppress the model approximation error and external interference.The trajectory tracking effect has been significantly improved.Finally,the fault-tolerant controller of the manipulator is designed based on the linear matrix inequality method,and the performance of the controller is verified by giving the form of the disturbance to the mechanism.The simulation results show that the controller can not only ensure the stability of the system in the event of failure,but also make the system have a good inhibition effect on the disturbance and good robustness. |
