Obstacle avoidance dynamic control of manipulator based on space operator algebra

Abstract

The traditional manipulator obstacle avoidance dynamics control method ignores the acceleration constraints and speed constraints of the joint obstacle avoidance, and judges the equivalent moment of inertia inaccurately, which leads to large fluctuations in the driving torque of the manipulator motor, and high maximum driving torque and acceleration peaks. Therefore, a dynamic control method of manipulator avoiding obstacles based on space operator algebra is proposed. Using the space recursion method, according to the dynamic space operator algebra system, the manipulator dynamics model is obtained, PID parameters are adjusted, and the model is controlled by three-loop closed-loop PID control to obtain the joint torque under different obstacle avoidance states, and calculate the torque feedforward. The channel transfer function enables the moment to act on the joints of the manipulator to achieve the equivalent moment of inertia control target, to identify and finely control the moment parameters, and to plan the obstacle avoidance trajectory of the manipulator. A parallel manipulator was selected for comparison experiments. The results show that the design method reduces the motor torque ripple, the maximum driving torque, and the acceleration peak in the motion trajectory plane, so that the manipulator has better motion smoothness, reduces motor energy loss, and improves dynamic performance.