Track Tracking of Bilink Flexible Joint Robotic Arm
In order to solve the problems of large joint angle deviation and poor track control effect caused by traditional methods,a track tracking control method for a two-link flexible joint manipulator is proposed.Firstly,the reason why the step response time of trajectory control is too long is analyzed.Then,based on the existing flexible joint trajectory controller,the radial basis function neural network model is introduced.Finally,the training function is defined by using Lagrange's second type equation and the conservation theorem of system momentum,and the trajectory controller model of the manipulator is constructed to realize the trajectory control of the manipulator.The experimental results show that when the proposed method is applied to control,the step response time is about 1.1s,the trajectory control deviation is 0.7mm,and the joint adjustment angle error is only 0.05rad,which effectively reduces the step response rise time and the trajectory control deviation,improves the control accuracy of the trajec-tory of the two-link flexible joint manipulator,and has certain application value.
Radial Basis Function Neural NetworkFlexible Joint ManipulatorGaussian FunctionLagrangeSt-ep Response Time
NETL
NSTL
万方数据
维普
