Abstract
The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.
Highlights
The dynamics of flexible robots are considered based on the comprehensive factors of deformation and control [4]
The results show that gravity has a great influence on the dynamic characteristics of the manipulator
The model is based on the combination of flexibility, terminal load, and improved friction effect
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. A flexible robot is characteristically lightweight, with high flexibility and a large load [1]. The robot itself can be further optimized by considering the flexibility factor [2]. Since the robot design needs to meet the actual working conditions, designing its control method poses additional difficulties [3]. The stiffness change is absolute; that is, the elastic deformation is absolute. The dynamics of flexible robots are considered based on the comprehensive factors of deformation and control [4]. Dynamic modeling and characteristic analysis of flexible robots are essential
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