Vibration Control of Piezoelectric Flexible Manipulator Based on Machine Vision and Improved PID

摘要

In aerospace and aviation, in equipment with light and high-speed motion, the mechanism rods must be designed to be lightweight and flexible to meet the requirements of reducing energy consumption, weight and cost, so it is necessary and meaningful to study how to suppress the vibration of flexible robotic arms. On the basis of numerical simulation analysis, an intelligent flexible manipulator system measurement and control platform is built. Numerical simulation and experimental results show that the proposed control strategy is feasible. This topic takes the multi-flexible robot arm as the research object, and uses the method of PID fuzzy control fusion to suppress the elastic vibration of the flexible robot arm. The vibration during the operation of the flexible arm reduces its positioning and operation accuracy, and the vibration suppression effect of the flexible arm is not the same in different control algorithms. To solve the problem that contact measurement affects the structure characteristics and the setting of PID control parameters is not ideal in the vibration active control system, the vibration control is carried out by using machine vision technology to measure the vibration of the structure and combined with the PID optimized by artificial fish swarm algorithm [1]. The main purpose of this paper is to improve the positioning and control accuracy of the flexible arm end and improve the operating efficiency of the system.