Design of Error Splitting Compensation Control Method for Robot Arm in Heavy Duty Emergency Repair Operations
In the emergency repair operation of the robotic arm,there are problems such as uncontrollable flexible de-formation,uncertain spatial constraint parameters,and sliding mode disturbance due to the influence of large loads.To this end,design an error splitting compensation control method for heavy-duty repair operation robotic arms.The structure of the robotic arm was projected onto a two-dimensional plane,and the maximum operating space constraint of the robotic arm under high loads was determined.The Lagrangian equation was introduced to decompose the tra-jectory error of the high load operation process in the robotic arm operating space from three perspectives:kinetic energy,potential energy,and generalized force.In Cartesian space,a feedforward+PD controller control law is set,and the error compensation output of the+PD controller is utilized to achieve error differential compensation control of the emergency repair robotic arm.The experiment shows that the proposed method can achieve precise compensation control of the emergency repair robotic arm under high stability conditions.
high load robotic armdisturbance problemdelay errornormal synchronization errorfeedforward+PD con-trolleremergency repair work
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