Two-degree-of-freedom planar mechanical arm control method and system based on nominal control item and uncertain item and storage medium

• Main Authors: XIAO HAOWEN, MENG CHAOQUN, LIU XIAOLI
• Format: Patent
• Language: Chinese; English
• Published: 22.09.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A two-degree-of-freedom planar mechanical arm control method and system based on a nominal control item and an uncertain item and a storage medium are characterized in that a mechanical arm is controlled by constructing a controller model, the controller model comprises the nominal control item and a robust control item, the nominal control item is used for describing a determined part of mechanical arm control, and the robust control item is used for describing the uncertain part of the mechanical arm control; the robust control item is used for describing an uncertain part controlled by the mechanical arm. The structure is simple, uncertain items are easy to calculate, and a two-degree-of-freedom planar mechanical arm controller model can be quickly constructed. 一种基于标称控制项和不确定项的二自由度平面机械臂控制方法、系统及存储介质，它通过构建控制器模型控制机械臂，控制器模型包括有标称控制项和鲁棒控制项，标称控制项用于描述机械臂控制的确定部分，鲁棒控制项用于描述机械臂控制的不确定部分。它结构简单，易于计算不确定项，可快速构建二自由度平面机械臂控制器模型。