柔性臂机器人定位过程模糊滑模控制研究  

Fuzzy sliding mode control for positioning flexible link manipulators

作　　者：戴学丰[1] 孙立宁[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2005年第2期148-150,共3页Journal of Harbin Institute of Technology

基　　金：高等学校博士点科研基金资助项目(2000021323);高等学校骨干教师资助项目(1043).

摘　　要：以宏微双重驱动的双连杆柔性臂机器人为背景,提出了一种具有模糊调节功能的关节角控制律设计方法,即基于刚性模态设计实现关节位置控制的滑模算法,再根据关节角误差信号和滑模函数变化趋势建立模糊推理表确定对滑模控制律的修正量. 为了保持系统性能平稳变化,还提出了修正系数矩阵的概念.计算机仿真表明,本算法可以很好地实现关节角位置控制同时不引起大的振动.A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function's entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.

关 键 词：柔性臂机器人 滑模控制 模糊控制 位置控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]