Automatic control technology of unbalanced vibration of seven-degree-of-freedom redundant manipulator in space
Different from other manipulators,the spatial seven-degree-of-freedom redundant manipulator is prone to unbalanced vibration when working.In order to improve the stability of the manipulator,an automatic control technology for unbalanced vibration of the spatial seven-degree-of-freedom redundant manipulator is proposed.By correlating the flexible vibration and rigid vibration between the joints of the manipulator,the vibration frequency of the manipulator is obtained,the acceleration of the manipulator is calculated according to the elastic deformation excitation of the arm of the spatial redundant manipulator,and the elastic deformation modulus of the spatial redundant manipulator is extracted by using the boundary conditions when the manipulator rotates.According to the composition of the joint servo system of the manipulator,the spatial redundant mechanical balance equation is constructed.By extracting the characteristics of the vibration signal of the manipulator,the core vibration frequency and random frequency of the vibration signal of the manipulator are obtained.Under the constraint of the vibration signal,the control quantity of the unbalanced vibration of the spatial redundant manipulator is calculated.Through the decision instruction,the sliding mode controller is designed to realize the automatic control of the unbalanced vibration of the manipulator.The experimental results show that the technology in this paper can reduce the vibration amplitude of the manipulator and control the vibration displacement within 1mm.
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