Obstacle avoidance dynamic control of manipulator based on space operator algebra

doi:10.1016/j.future.2021.05.009

CQUET-IR

	Obstacle avoidance dynamic control of manipulator based on space operator algebra
	Hong, Huihui 1; Sun, Xiaoxiao 2
	2021-10
发表期刊	Future Generation Computer Systems-The International Journal of eScience
ISSN	0167-739X
EISSN	1872-7115
卷号	123 页码:201-205
摘要	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. (C) 2021 Published by Elsevier B.V.
关键词	Space operator algebra Manipulator Dynamic model Obstacle avoidance control Torque feedforward channel Algebra Closed loop control systems Collision avoidance Dynamic models Energy dissipation Three term control systems Torque Control methods Driving torques Dynamic controls Dynamics modelling Obstacle avoidance controls Obstacles avoidance Operator algebras Space operators
DOI	10.1016/j.future.2021.05.009
收录类别	SCIE ; EI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Theory & Methods
WOS记录号	WOS:000661867900018
出版者	ELSEVIER
EI入藏号	20212110404642
EI分类号	525.4 Energy Losses (industrial and residential) ; 731.1 Control Systems ; 914.1 Accidents and Accident Prevention ; 921 Mathematics ; 921.1 Algebra ; 931.2 Physical Properties of Gases, Liquids and Solids ; 961 Systems Science
原始文献类型	Article ; Journal article (JA)
出版地	AMSTERDAM
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.cqcet.edu.cn/handle/39TD4454/3545
专题	重庆电子科技职业大学
作者单位	1.Chongqing Coll Elect Engn, Chongqing 401331, Peoples R China; 2.Nanjing Inst Technol, Sch Mech Engn, Nanjing 211167, Peoples R China
推荐引用方式 GB/T 7714	Hong, Huihui,Sun, Xiaoxiao. Obstacle avoidance dynamic control of manipulator based on space operator algebra[J]. Future Generation Computer Systems-The International Journal of eScience,2021,123:201-205.
APA	Hong, Huihui,&Sun, Xiaoxiao.(2021).Obstacle avoidance dynamic control of manipulator based on space operator algebra.Future Generation Computer Systems-The International Journal of eScience,123,201-205.
MLA	Hong, Huihui,et al."Obstacle avoidance dynamic control of manipulator based on space operator algebra".Future Generation Computer Systems-The International Journal of eScience 123(2021):201-205.