Design of Control Method for Flexible Manipulator Under Control Sensor Signal Delay Compensation
Compared to rigid robotic arms,flexible robotic arms generate signal delays due to their structural and material characteristics of bending resistance and low stiffness.At present,the description of flexible robotic arm control is mostly based on time-domain signal analysis,which ignores the different high-order modal features generated between the control and sensing signals,resulting in a time lag difference between the two.In this work,a control method for flexible robotic arms with time-delay compensation of control sensing signals is designed.Singular spectrum analysis is used to perform time-frequency decomposition on the denoised control signal,in order to obtain the distribution of the control signal in the time-frequency domain.The Hilbert Huang transform method is used to perform frequency domain transformation on the sensing signal,and the temporal and amplitude changes of the sensing signal in the frequency space is obtained.After synchronously compressing the control sensing signal,a substitute data marginal spectrum is generated.Based on the statistics of the generated signal from the marginal spectrum and the identification of non-stationary data,the delay compensation of the control sensing signal is completed,and the control process of the flexible robotic arm is optimized.The experimental results show that the delay between the control signal and the sensing signal of this method is very small,and the motion range of the flexible robotic arm is within the normal range.These results indicate that the method has good control performance for flexible robotic arms.
flexible robotic armcontrol signalsensing signaltime frequency decomposition methodhilbert huang transform
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