Research on Vibration of Mobile Manipulator End Based on Cubic S-shaped Speed Control Algorithm
In the actual working environment,the mobile manipulator is affected by its own flexibility characteristics and external factors,which cause the vibration of the end of the manipulator,and speed control is one of the effective means to suppress the vibration of the end of the manipulator.Taking the mobile manipulator composed of the UR 10 manipulator and the Husky mobile platform as the research object and aming at the shortcomings of the trapezoidal and S-shaped speed control algorithms,proposes a cubic S-shaped speed control algorithm.The theory and simulation model of rigid-flexible coupling dynamics of the mobile manipulator are established to abtain the vibration displacement curve and acceleration curve of the end of the mobile manipulator.The correctness of the cubic S-speed control algorithm and the effectiveness of the vibration suppression effect are verified.
mobile manipulatorrigid-flexible couplingcubic S-shaped speed control algorithm
万方数据
维普
