| As a kind of special industrial robot,the hydraulic handling robot can meet the functional requirements of long-distance grasping,handling,load-bearing up and downhill and remote walking in high-risk environments.At the same time,the end attachments can be replaced by hydraulic wrists to achieve a certain versatility.When studying a large-load hydraulic handling robot,this paper takes into account that the inertial effect of the robot's working device causes the system to overshoot and frequent vibrations.At the same time,the robot's pose changes cause the equivalent mass of the robot's arm drive cylinders to change,thereby affecting the hydraulic pressure.System stability and position control performance are affected.In this regard,this article is based on electro-hydraulic proportional servo control technology,combined with modern control theory,robot kinematics and dynamics,and electro-hydraulic co-simulation technology to study the control system of the manipulator arm of the hydraulic handling robot,and design related control strategies.The robot arm can grasp the target object vertically while ensuring the low overshoot position control of the robot arm.First,the composition of the hydraulic control system of the hydraulic handling robot is analyzed,and the electro-hydraulic proportional position servo system is mathematically modeled.The transfer function of the valve-controlled asymmetric hydraulic cylinder position control system is obtained,and the transfer function of the position control system is mainly related to the equivalent load quality.related.The Virtual.Lab motion dynamics model of the hydraulic handling robot was established,the relevant mechanical parameters and dynamic parameters were obtained,and the equivalent load mass of each arm cylinder and the relationship between the hydraulic natural frequency and the cylinder stroke were deduced,and the next control strategy was obtained.The design provides system model parameters.Secondly,it introduces the relative space description of the hydraulic handling robot,and establishes a coordinate system on each member of the manipulator,uses the standard DH method to derive the positive kinematics equation,and obtains the pose matrix of the end gripper relative to the base coordinate system,and uses the numerical value The Monte Carlo method of solution is used to solve the point diagram of the robotic arm workspace.Build a simulation platform on the ROS platform,perform the Move It! toolkit for related configuration,use the Python interface to set the target waypoint and then perform Cartesian space trajectory planning to realize the trajectory planning and inverse kinematics calculation of the robot vertically grabbing the target object.The robot joint space and the driving space are transformed,and the target curve of each arm cylinder stroke is obtained,which pave the way for the research of the robot arm position control strategy later.Finally,the design process of the third-order active disturbance rejection controller based on N4 SID is introduced in detail.Taking the two-arm cylinder as the research object,the system simulation model is first established on the MATLAB/Simulink platform,and the PID control and the designed controller are used for position tracking.Comparative analysis of performance,additional disturbance analysis and noise addition.In order to simulate the actual motion of the robot,a joint simulation model of Virtual.Lab motion mechanical model,AMESim hydraulic model and MATLAB/Simulink control system model is established,and the control effect of the designed controller is analyzed by the method of electro-hydraulic co-simulation. |
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