多自由度机械臂关节角度自动控制方法设计研究  

Design and Research of Automatic Joint Angle Control Method for Multi-Degree-of-Freedom Manipulators

作　　者：代战胜[1] DAI Zhansheng(Shangqiu Polytechnic,Shangqiu 476100,China)

机构地区：[1]商丘职业技术学院,河南商丘476100

出　　处：《商丘职业技术学院学报》2024年第4期81-86,共6页JOURNAL OF SHANGQIU POLYTECHNIC

摘　　要：为解决目前机械臂运动轨迹控制与精度补偿中的问题,提出了一种多自由度机械臂关节角度自动控制方案.在对多自由度机械臂的连杆和关节部位的运动过程进行动力学分析的基础上,结合梯度下降法和人工神经系统,提出了能够实现对机械手臂连接部分和控制部分自动控制的策略,建立了针对多自由度的机械臂关节的角度控制模型.实验证明,所提出的控制策略能够很好地控制机械臂关节角度,并且能够很好地跟踪机械臂运动轨迹,有效提高了机械臂抓取精度,抓取精度达到了96%.In order to solve the problems in the current motion trajectory control and accuracy compensation of manipulators,an automatic joint angle control scheme for multi-degree-of-freedom manipulators is proposed.On the basis of the dynamic analysis of the motion process of the connecting rods and joint parts of the multi-degree-of-freedom manipulators,combined with the gradient descent method and the artificial neural system,a strategy that can realize the automatic control of the connecting parts and the control parts of the manipulators is proposed,and the angle control model of the joints of the multi-degree-of-freedom manipulators is built.Experiments show that the proposed control strategy can well control the joint angle of the manipulators and track the motion trajectory of the manipulators well,and this effectively improves the grasping accuracy of the manipulators and the grasping accuracy reaches 96%.

关 键 词：多自由度机械臂 关节角度控制 动力学模型 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TH164[自动化与计算机技术—控制科学与工程]