Research On Energy Consumption Optimized Control Strategy Of Robot Based On Motion Characteristics Of Human Upper Limb

With the rapid development of China's economy,industrial transformation and upgrading,and the continuous advancement of intelligent manufacturing,China's robot market has entered a period of rapid growth,and has become the world's largest application market for many years.However,the nature of robots is energy-intensive,and there is an irrational use of energy in use,resulting in a large amount of energy waste,which restricts the sustainable development and green development of robotics.As one of the key technologies of intelligent manufacturing,robotics must have the characteristics of high efficiency and energy saving,and the energy consumption optimization and energy efficiency research of robots are very active.This paper innovatively proposed the idea of optimizing the energy consumption of the robot based on the characteristics of energy saving of the upper limbs of the human body.It made an intensive study on the movement and metabolism characteristics of the upper limbs of the human body,the relationship of workspace and load capacity,energy consumption model and energy consumption optimization control strategy of robot.The main contents are as follows:Firstly,in order to evaluate the characteristics of energy expenditure during upper limb movement,the structure and movement forms of upper limb,and the characterization parameters that represent the law of motion are briefly introduced.Referring to relevant research results,the simplified skeletal muscle model and the metabolic model of upper limb are introduced for energy metabolism calculation and analysis of the upper limb movement process,and the load capacity of upper limbs on sagittal plane was analyzed,providing the basis for subsequent research and analysis.Then,the trajectories of upper limb dumbbell curling movements of different volunteers were collected,the joint angle was calculated by space vector method,the upper limb trajectories,joint angles and time were normalized,and the joint angles were simulated.According to the upper limb metabolic model,the power and work of each joint in the process are calculated,and the energy consumption characteristics are analyzed.Based on the knowledge of kinematics,the simulation model of 3-DOF robot was established,and the Monte Carlo method was used to analyze its working space.The inverse dynamics of the robot was used to analyze the variation of joint torque with joint angle under static state and motion state.Combined with the electrical equation of the servo motor,the energy consumption model of the robot and the corresponding relationship between the energy consumption and the workspace were established.Through the joint angle transformation,time scaling and energy flow relationship,the motion mapping relationship between human upper limb and robot is analyzed,and the corresponding motion control strategy for reducing the energy consumption of the robot is proposed.The simulation analysis is carried out in combination with genetic algorithm.Finally,experiments are carried out on a 3-DOF robot experimental platform under both no-load and load conditions,and the effectiveness of the motion control strategy are verified by data analysis and comparison.