机器人灵巧手基关节交叉耦合同步控制  

Synchronized Cross-coupled Control for Base Joint of Dexterous Robot Hand

作　　者：兰天[1,2] 刘伊威[1] 陈养彬 金明河[1] 姜力[1] 樊绍巍[1] 刘宏[1,3] 

机构地区：[1]机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]宁波GQY视讯股份有限公司,上海201206 [3]德国宇航中心机器人与系统动力学研究所

出　　处：《机器人》2010年第2期150-156,165,共8页Robot

基　　金：国家863计划资助项目(2006AA04Z255);机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题(SKLR200801A01)

摘　　要：为了提高机器人灵巧手基关节的轨迹跟踪精度,提出了包含同步误差和位置误差反馈项及平滑鲁棒非线性反馈补偿项的交叉耦合同步控制策略,并建立了手指动力学模型.基于李亚普诺夫稳定性理论证明了所提出的控制策略能够使同步误差和位置误差均收敛到0,并且保证了系统的渐近稳定性.与传统非同步控制的PD加摩擦力补偿算法和轨迹跟踪控制算法进行比较,实验结果验证了所提出控制策略的有效性.A synchronized cross-coupled control approach is presented to improve trajectory tracking accuracy for base joint of dexterous robot hand, including feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The dynamics model of the robot is also established. According to Lyapunov stability analysis, it is proved that the proposed method can guarantee both synchronization and position errors converge to zero and the sys- tem is asymptotically stable. The proposed control strategy is compared with conventional non-synchronized PD friction compensation and trajectory tracking control, and experimental results demonstrate its validity.

关 键 词：机器人灵巧手 交叉耦合控制 同步控制 轨迹跟踪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]