柔性关节机器人奇异摄动控制  

Singular perturbation control for flexible-joint manipulator

作　　者：刘业超[1] 刘伊威[1] 刘宏[1,2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]德国宇航中心机器人及机电一体化研究所,慕尼黑82230

出　　处：《电机与控制学报》2009年第3期436-441,共6页Electric Machines and Control

基　　金：长江学者和创新团队发展计划;国家“八六三”计划(2006AA04z228)

摘　　要：传统的奇异摄动控制方法仅适用于关节柔性较小的机器人。针对这一问题,设计了关节柔性补偿器,以提高关节的等效刚度、消除关节柔性对该方法的限制,并将奇异摄动方法推广应用于具有一般关节柔性的机器人系统中。设计了自适应控制规律完成对慢子系统的控制,以保证轨迹误差的渐近跟踪。该控制策略不限制关节柔性大小,并且不需要连杆加速度及其微分信号,便于工程应用。以柔性关节机器人为研究对象进行了实验研究。实验结果表明,对于慢子系统采用PD、计算力矩和自适应控制,本文的控制策略比传统的奇异摄动方案更有效。The traditional singular perturbation approach can only joint flexibility. In order to solve this problem, a joint flexibility increase the equivalent joint stiffness. So the limitation for the be used in the robot system with weak compensator was designed, which can singular oerturbation aooroach was removed and it can be extended to the robot system with normal joint flexibility. Besides these, an adaptive control law was designed for the slow subsystem, which can guarantee the trajectory error asymptotical tracking. The proposed control strategy can be applied to the engineering systems conveniently without any joint flexibility limitation and does not need the link acceleration or jerk information. Finally, an experimental study on the flexible joint manipulator was executed and the results verify that whatever the PD, computed torque or adaptive control are used in the slow subsystem, the proposed singular Derturbation strategy is more valid than the traditional one.

关 键 词：柔性补偿 自适应控制 奇异摄动控制 柔性关节 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]