| With the rapid development of industrial intelligence,the requirement of high-tech equipment on its materials is also increasing gradually.Flexible materials are widely used in various fields due to their advantages such as low quality and small damping,especially in the field of aerospace.The use of flexible manipulator and wall plate reduce energy consumption and improve work efficiency.However,flexible materials are prone to generate strong and lasting chatter under certain interference,which affects positioning accuracy and service life.So it is very important to control the vibration of the manipulator.In order to solve the vibration problem of flexible materials,relevant scholars have conducted a lot of research and achieved fruitful achievements.However,there are still some problems such as incomplete analysis of mechanical arm's rigid-flexible coupling vibration characteristics,contact measurement affecting structural characteristics and complex parameter selection process of traditional PID vibration control algorithm.In this paper,double-joint rigid-flexible manipulator is selected as the controlled object.Its vibration characteristics under rigid-flexible coupling is studied.The vibration measurement system and active control system are designed by using non-contact machine vision technology and intelligent control algorithm.The simulation and experiment verify that the system has higher measurement accuracy and better control effect.The main content of the paper is as follows:Firstly,in order to investigate the vibration characteristics of the manipulator under rigid-flexible coupling,the dynamic modeling is carried out by using Lagrange equation and assumed modal method,and the model is modified by considering joint flexibility.In order to verify the accuracy of the model and lay a numerical foundation for subsequent control,the orthogonal test of multivariable vibration measurement is designed.And the experimental signal is processed by wavelet transform.The influence of motor subdivision and rotation speed on the vibration of rigid and flexible manipulator is analyzed,and the vibration characteristics under the coupling of rigid and flexible are explored.The groups of parameter setting that need further control are determined.Secondly,according to the measuring scheme of the vibration information collected by the industrial camera,the vibration measuring device of flexible manipulator based on machine vision is designed and built.According to the characteristics of the vibration image of the marker,the Otsu threshold segmentation algorithm is improved according to the gray distribution information between the threshold and the target crest.The improved algorithm improves the segmentation accuracy.Combined with the improved algorithm,the image acquisition and processing program based on LabVIEW platform is written.The measurement accuracy of the system is verified by comparing the experimental results with the results of piezoelectric measuring and simulation.Finally,PID control and artificial fish swarm optimization principle are described.The PID control algorithm based on artificial fish swarm optimization is designed.PID control parameters are taken as the status of fish swarm,control error is taken as algorithm fitness,and PID controller parameters are optimized.The feasibility and superiority of the algorithm are verified by simulation.The active control experimental platform of flexible manipulator is built.The piezoelectric actuator is used to suppress vibration by using an optimized controller whose input is the visual displacement measurement.The experimental results show that the average control effect of the system is 53.90%,and effective vibration suppression is achieved.Figure [78] table [10] reference [85]... |
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