The study of dynamics modeling and composite control for large load robot

摘要

Robot is a hot topic in modern research. To meet the requirements of large power, high energy, large load and high speed, hydraulic driven manipulator is a priority. However, the micro deformation of manipulator under large load cannot be ignored. Therefore, dynamic modeling and control of large load manipulator are studied in this paper. Firstly, the force of large load manipulator is analyzed, and a reasonable mode is selected for the kinematic analysis of the deformation of the large load manipulator. Considering the damping factor, the dynamic model of large load manipulator is constructed by using the Lagrange method. Then, the coupling dynamic system of the manipulator is decomposed into two subsystems by using the small parameter perturbation method, and the complex control of large load manipulator system is carried out by using the inversion sliding mode control and LQR respectively. Finally, the effectiveness of the modeling and the feasibility of the control system are verified by simulation. It is of great significance for the theoretical research and control of hydraulic flexible manipulator.