Dynamics Modeling, Control System Design and Simulation of Manipulator Based on Lagrange Equation

Abstract

To improve the servo performance of the manipulator and further obtain higher motion accuracy, dynamics equation of the series manipulator is developed based on Lagrange dynamics method. Simultaneously, the control algorithm is studied to ensure the error system is globally asymptotically stable near the equilibrium point. With full consideration of the dynamic characteristics of the system, a controller is designed and the control system simulation model is established subsequently. The simulation results show that the controller designed in this paper has good dynamic and static performances, the manipulator system can follow the control directives effectively with the tracking error of joint angles limited to 10-5 rad. Methods of dynamics modeling, controller design and control system simulation are universal to the multi-degree-of-freedom series manipulators, which has a certain reference value for the research of similar mechanisms.