Dynamics Modeling, Control System Design and Simulation of Manipulator Based on Lagrange Equation
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.
Manipulator Lagrange equation Control system Simulation
Da-quan Li Hua-jie Hong Xian-liang Jiang
College of Mechatronics Engineering and Automation,National University of Defense Technology, Changsha 410073, China
国际会议
广州
英文
1129-1141
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）