MODELING AND INVERSE KINEMATICS CONTROL P60KM ROCKET RACK SYSTEM USING CLOSED - LOOP INVERSE KINEMATICS

  • Nguyễn Văn Nam
  • Dương Xuân Biên
  • Nguyễn Minh Hồng
  • Nguyễn Tài Hoài Thanh
  • Đỗ Mạnh Tùng
  • Phạm Văn Tuân
  • Đào Văn Lưu
  • Nguyễn Tú Linh
Keywords: P60KM rocket, modeling, inverse kinematics, closed-loop feedback.

Abstract

This paper presents the results of modeling and inverse kinematics based on Closed-loop Inverse Kinematics (CLIK) for
P60KM rocket rack system. The system is considered as a robotic arm with three degrees of freedom assuming the links are
absolutely solid, without considering the elastic deformation in the joints and joints. Based on DH theory and many-body
mechanics, the system of kinematic equations is specifically built. Combined with the geometrical parameters of the
system and the limit values according to the real model, the inverse kinematics problem is implemented with the input as
the trajectory of the last operating point in the workspace. Through the closed-loop feedback control solution, the values
of the matching variables are determined within the allowable limits and are used for the forward kinematics problem to
find the error of the manipulation trajectory. The numerical simulation results show that the orbital error is very small,
and the stability of the control system is guaranteed for a long time. The research results can be used as a reference for the
control system in practice, as a basis for solving the dynamics problem, calculating the driving force/torque for the joints.

điểm /   đánh giá
Published
2022-05-31
Section
RESEARCH AND DEVELOPMENT