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[CN202010365326.X] Multi-joint heavy-duty hydraulic robot system and high-precision motion control method thereof
[CN202010365326.X] a multi-joint heavy-duty hydraulic robot system and a high-precision motion control method title: a multi-joint heavy-duty hydraulic robot system and a high-precision motion control method application number: CN202010365326.X applicant: Zhejiang university application date: 2020-4-30 patent type: invention application the present invention discloses a multi-joint heavy-duty hydraulic robot system and a high-precision motion control method, the system consists of a dynamic system, a sensor detection and data acquisition system, a computer control system and a robotic arm body system. The method establishes a dynamic model of the hydraulic robot, considers system uncertainty and modeling errors for system compensation, and can accurately track and control under different load mass conditions without changing the control parameters, to overcome the influence of system uncertainty and external interference, the joint angle tracking error gradually tends to zero, and improve the transient, steady-state performance and anti-interference ability of the system. The physical meaning of the controller parameters is clear, the number of parameters is small, and the setting of the controller parameters is relatively simple and has theoretical basis. The stability and convergence of the system are guaranteed by Lyapunov stability function, thus ensuring the global robust stability of all signals.
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