Due to the elastic and inertial characteristics of fluid media,hydraulic flexible robotic arms are prone to vibration problems,resulting in reduced control accuracy and stability of the robotic arm.Therefore,a vibration suppression control method for hydraulic flexible robotic arms based on rigid flexible coupling is proposed.Firstly,construct a vibration control objective function for the robotic arm,with the goal of minimizing the range of vibration variation of the hydraulic flexible robotic arm,and design vibration suppression control constraints for the robotic arm;Secondly,using input shaping method to improve the negative input shaper and suppress the vibration caused by flexible motion of the robotic arm;Then,design a feedback linearization controller to suppress the vibration caused by the rigid motion of the robotic arm;Finally,the shaper is combined with the controller to achieve rigid flexible coupling vibration suppression control for hydraulic flexible robotic arms.The experimental results show that after being processed by the method in this article,the amplitude remains stable,the logarithmic decay rate can reach 4.6,and the control error does not exceed 0.09 rad,which improves the vibration suppression control effect of the robotic arm.
维普
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