A dynamic modeling and trajectory tracking control method for dual-arm mechanism for cabin docking

A new track tracking control method based on Lagrange dynamic equation is proposed. Firstly, the kinetic energy equation and potential energy equation of the left and right robotic arms are derived and calculated based on Lagrange function and the robot dynamics equation in the generalized coordinate system. The friction model of the left and right robotic arms is designed based on the Stribeck model, and the Lagrangian dynamic equation of the dual-arm mechanism for the hatch docking is established. Secondly, based on the Lagrange dynamic model, the collaborative control system of the docking mechanism is designed, and the backstepping sliding mode controller is designed and analyzed. A fuzzy backstepping sliding mode controller is designed to control the gain matrix β of the backstepping sliding mode controller by adjusting the output of the system with fuzzy logic, which further improves the robustness of the control system. Finally, the effectiveness of the design, dynamic modeling and control algorithm design of the cabin docking mechanism is verified by software simulation and real experiment. The experimental results show that the control method can realize the accurate tracking and control of the motion trajectory and velocity trajectory of the dual-arm mechanism, and has good robustness. The maximum absolute error and standard deviation of the axis Angle of the mobile cabin after docking are 0.501° and 0.004°, which can meet the requirements of the actual production process.