Flexible Joint Robot Manipulators Control Method of Fish Swarm Algorithm and Adaptive Inverse Control

Abstract

Parameters uncertainties and disturbances broadly exist in robotic arms,especially for the flexible joint system in the process of manipulator movement,which terribly deteriorate system control performance.Thus a controller with parameter adaption is proposed for flexible joint system in this paper. First, the collision model and friction model of flexible rotary joint with clearance were established, and the global dynamics equation of manipulator was derived by generalized method Secondly, the pre-applied joint torque is taken as the research object, and the fish swarm algorithm is used in MATLAB/SIMULINK module to optimize the PID (proportional-integral-differential)parameters and combining inverse control to reduce the impact vibration.Under real experimental conditions, the results show that the control torque curve is close to the pre-set curve, the amplitude is reduced, the vibration time is shortened within 1 second, and the influence of the joint clearance on the finished surface is reduced, which proves that the proposed method is feasible and the response speed is fast and can meet the requirements.