Research On Trajectory Planning And Vibration Suppression Algorithm Of Multi-degree-of-freedom Rigid-flexible Coupling Manipulator En

Vibration control has always been a problem that the engineering and academic circles are trying to solve.The application of almost all technologies is inseparable from the research of vibration suppression.At present,automation cannot do without the assistance of robotic arms,and vibration suppression is a prerequisite for enabling them to better complete tasks.This paper conducts theoretical,simulation,and experimental research on the flexible vibration problem of a rigid flexible coupling arm from three aspects: trajectory planning,joint control,and vibration suppression with dynamic absorbers.The main research content and results are summarized as follows:(1)The mechanical structure of a four degree of freedom rigid flexible coupling arm is designed,and the forward kinematics and inverse kinematics problems are solved;The dynamic characteristics of the flexible beam were solved based on The Assumed Modal Method;Explored the boundary condition problem of flexible beam solutions with end mass;The dynamic problem of a joint driven flexible beam is transformed into modal space,and an integral method for calculating the equivalent vibration parameters of the flexible beam is obtained based on the solution.(2)A joint trajectory planning method that can suppress residual vibration of flexible arms was studied: residual vibration suppression was achieved by generating acceleration curves based on input shaping pulse pairs;Clearly,the impact and residual vibration of a flexible beam are not equivalent.In order to combine the advantages of smooth planning to suppress impact and input shaping to suppress residual vibration,a rectangular pulse is used to construct a force rate signal to suppress the residual vibration of the flexible beam.Simulation and experiments have shown the effectiveness of the method.(3)Explored the vibration suppression performance of classic dynamic vibration absorbers,and based on this,conducted in-depth research on the vibration suppression performance of double dynamic vibration absorbers.Based on theoretical and simulation,it was proven that the robustness of double dynamic vibration absorbers to parameters is much higher than that of classic dynamic vibration absorbers;Based on vibration equivalence,the optimal design value of double dynamic vibration absorbers was discussed;Explored the dynamic characteristics of voice coil motors and used them to design an active double dynamic vibration absorber;Provide a state space equation model for the vibration suppression system of a flexible beam with double dynamic absorber.(4)The characteristics and implementation algorithms of Active Disturbance Rejection Controller(ADRC)and LQR controller are studied,and the advantages of combining the two controllers are given based on lemmas;The flexible beam system is equivalent to a parallel system of a second-order damped system,indicating that the Active Disturbance Rejection PD controller can achieve joint feedback vibration suppression,and the feasibility of the control algorithm is verified by experiments;Based on the state equation model of the vibration suppression system,an implementation method of an Active Disturbance Rejection LQR control algorithm is proposed.Based on MATLAB numerical simulation and physical experiments,the performance of the controller is studied from four aspects: vibration suppression effect,model error compensation,nonlinear compensation ability,and flexible beam high order mode suppression ability,The conclusion shows that the active disturbance rejection LQR control has excellent disturbance compensation ability and strong robustness in the active vibration suppression control of double dynamic vibration absorbers.The characteristics and implementation algorithms of Active Disturbance Rejection Controller(ADRC)and LQR controller are studied respectively,and the advantages of the combination of the two controllers are discussed;Based on the Active Disturbance Rejection PD Ccontroller,joint feedback vibration suppression is achieved,and the feasibility of the control algorithm is verified through experiments;Based on the Equation of state model of the vibration suppression system,a realization method of an Active Disturbance Rejection LQR control algorithm is proposed.Based on MATLAB numerical simulation and physical experiments,the controller performance is studied from four aspects of vibration suppression effect,model error compensation,nonlinear compensation capability and flexible beam high-order mode suppression capability,The conclusion indicates that the LQR-ADRC control has excellent disturbance compensation ability and strong robustness in the active control of vibration suppression of double dynamic vibration absorbers.