基于干扰观测器的机器人关节控制  

Humanoid Robot Joint Control Based on Disturbance Observer

作　　者：刘艳涛[1] 

机构地区：[1]上海交通大学自动化系学院控制与信息处理实验室

出　　处：《微型电脑应用》2011年第7期62-64,71,共4页Microcomputer Applications

摘　　要：提出了基于干扰观测器的仿人机器人关节控制方法。在建立仿人机器人单关节物理模型的基础上,设计了相应的干扰观测器和控制器,解决了关节控制中时变非线性的重力力矩对控制性能的影响。与PID控制器进行性能比较,并探讨了关节模型摄动对干扰观测器的影响,仿真结果表明该方法在仿人机器人关节控制中的可行性和有效性。A joint control method is proposed for humanoid robot based on disturbance observer. The full dynamic model of robot is firstly analyzed witheach ,joint actuated by motors, and a simple single joint dynamic model is therefore decoupled. The disturbance observer and controller are designed tocompensate for the effects produced by time-variant gravity torque. In simulation, the performance of proposed method is compared with that of PDcontroller and the effects of model perturbation on the application of disturbance observer are further discussed. The results show the effectiveness andfeasibility of the proposed method.

关 键 词：仿人机器人 关节控制 干扰观测器 模型摄动 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]