基于DSP/FPGA的反步法阻抗控制柔性关节机械臂  

Backstepping impedance control flexible joint manipulators using DSP/FPGA structure

作　　者：熊根良[1] 刘伊威[1] 黄剑斌[1] 刘宏[1,2] 蒋再男[1] 孙奎[1] 

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,哈尔滨150001 [2]德国宇航中心,韦斯林82234

出　　处：《控制与决策》2009年第8期1137-1142,共6页Control and Decision

基　　金：国家863计划项目(2006AA04z228);教育部"111"创新引智计划项目(B07018);长江学者和创新团队发展计划项目(IRT0423)

摘　　要：针对柔性关节机械臂与环境接触时的柔顺控制问题,提出一种反步法阻抗控制方法,并基于李雅普诺夫稳定性理论证明了控制器的稳定性.该方法是在建立柔性关节机器人模型的基础上,将李雅普诺夫函数选取与控制器设计相结合的一种回归设计方法.它从系统的最低阶次微分方程开始,逐步设计满足要求的虚拟控制,最终设计出真正的控制器.轨迹跟踪和阻抗控制实验结果表明,该方法是有效而可行的.Aiming at the compliant control problem of flexible joint manipulator when it contacts with environment, an impedance control is proposed based on backstepping approach. And the stability of the controller is proven by using Lyapunov stability theory. The approach is on the basis of the model of flexible joint robot manipulator, which combines the choice of a Lyapunov function with the design of controller. The backstepping design technique starts from the differential equation in its smallest order of the system, which designs the satisfied virtual control step by step, then the real controller can be obtained. The experimental results of trajectory tracking and impedance control show the effectiveness and feasibility of the proposed control approach.

关 键 词：柔性关节 阻抗控制 反步法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]