Abstract
Robotic manipulators are widely used for precise operation in the medical field. Vibration suppression control of robotic manipulators has become a key issue affecting work stability and safety. In this paper an optimal trajectory planning control method to suppress the vibration of a variable-stiffness flexible manipulator considering the rigid-flexible coupling is proposed. Through analyzing the elastic deformation of the variable-stiffness flexible manipulator, a distributed dynamic physical model of the flexible manipulator is constructed based on the Hamilton theory. Based on the mathematical model of the system, the design of the vibration damping controller of the flexible manipulator is proposed, and the control system with nonlinear input is considered for numerical analysis. According to the boundary conditions, the vibration suppression effect of the conventional and the variable-stiffness flexible manipulator is compared. The motion trajectory of the variable-stiffness flexible manipulator and compare the vibration response from different trajectories. Then, with minimum vibration displacement, minimum energy consumption and minimum trajectory tracking deviation as performance goals, the trajectory planning of the variable-stiffness flexible manipulator movement is carried out based on the cloud adaptive differential evolution (CADE) optimization algorithm. The validity of the proposed trajectory planning method is verified by numerical simulation.
Highlights
Robotic manipulator plays an important role in medical diagnosis, due to the advantages of fast running speed, high accuracy, and low energy consumption
A control method of vibration suppression of the variable-stiffness flexible manipulator is proposed to the nonlinear input in Control Design of the Flexible Manipulator section
The results show that the trajectory planning effect of the variable-stiffness robotic manipulator based on the differential evolution algorithm is better
Summary
Robotic manipulator plays an important role in medical diagnosis, due to the advantages of fast running speed, high accuracy, and low energy consumption. Heidari et al (2013) and others established a nonlinear finite element dynamic model of a three-dimensional flexible manipulator, and based on Pontryagin theory to use optimal control to obtain the optimal trajectory with minimum energy and minimum vibration. A control method of vibration suppression of the variable-stiffness flexible manipulator is proposed to the nonlinear input in Control Design of the Flexible Manipulator section. The effect of gravity is ignored in the established physical model Since both the rotational movement and elastic vibration of the flexible manipulator occurs to the horizontal plane, and the length of the mechanical manipulator is much larger than its cross-sectional width and height, it is assumed to be an Eider-Bernoulli beam. Property 2: If ∀(x, t) ∈ (0, L) × [0, tmax), the kinetic energy of the system described by Eq 3 is bounded, the state yxx(x, t), yxxx(x, t), yxxxx(x, t) related to it is bounded in the corresponding range
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