Laser Detection Manipulator Stability Control Based on Inversion Control

Zhongwei Ji, Yan Ding, Kang Zhao, Tingrui Liu

2023

Abstract

In this paper, the trajectory tracking control problem of the laser detection manipulator based on inversion control adjusts the position of the camera under the movement of the 3R manipulator arm. Firstly, the 3D modeling software was used to build a structural model of the laser detection manipulator and describe the motion state of the manipulator arm. Secondly, according to the Lagrange dynamic theory, the driving moment of the three joints of the 3R manipulator arm was derived, the external interfering torque was introduced, and the dynamic model was established. An inversion controller of the system was then established based on the 3R manipulator arm dynamic model. Finally, the model was simulated by MATLAB, and the experimental results show that the control rate can achieve a good trajectory tracking goal.

Paper Citation

in Harvard Style

Ji Z., Ding Y., Zhao K. and Liu T. (2023). Laser Detection Manipulator Stability Control Based on Inversion Control. In Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS; ISBN 978-989-758-675-0, SciTePress, pages 109-113. DOI: 10.5220/0012150200003562

in Bibtex Style

@conference{icdpcs23,
author={Zhongwei Ji and Yan Ding and Kang Zhao and Tingrui Liu},
title={Laser Detection Manipulator Stability Control Based on Inversion Control},
booktitle={Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS},
year={2023},
pages={109-113},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012150200003562},
isbn={978-989-758-675-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS
TI - Laser Detection Manipulator Stability Control Based on Inversion Control
SN - 978-989-758-675-0
AU - Ji Z.
AU - Ding Y.
AU - Zhao K.
AU - Liu T.
PY - 2023
SP - 109
EP - 113
DO - 10.5220/0012150200003562
PB - SciTePress