基于逆系统的六自由度机械臂解耦内模控制  

Internal model decoupling control based on inverse system in 6-DOF manipulator

作　　者：黄文琴[1] 胡立坤[1] 王頔[1] 卢子广[1] 

机构地区：[1]广西大学电气工程学院,广西南宁530004

出　　处：《广西大学学报（自然科学版）》2011年第6期1016-1022,共7页Journal of Guangxi University（Natural Science Edition）

基　　金：国家自然科学基金资助项目(E070303);广西科学研究与技术开发计划项目(桂科科1010001-8);广西教育厅科研项目(201012MS007)

摘　　要：六自由度机械臂的强耦合非线性特性加大了机器人控制的难度,为解决这一问题,研究了一种解耦控制方法。基于拉格朗日力学建立六自由度机械臂的动力学模型,并利用逆系统方法推导其逆系统模型,将逆系统模型串联在原系统的前面构成伪线性系统。仿真实验表明,该系统被解耦为6个二阶积分子系统,但建模误差与外部干扰会影响模型的准确性,从而影响解耦与控制的效果。为实现位置的快速跟踪控制,采用内模控制方法对解耦系统进行闭环控制设计。仿真结果表明该方法有良好的稳态和动态特性。Due to the characteristics of coupling and nonlinearity in the 6-DOF manipulator system,a decoupling control method is proposed in this paper.The kinematics model of the system based on lagrangian mechanics is deduced.The inverse system model is cascaded before the original ones to get a pseudo-linear system.Simulation experiments show that,the original system is decopled to 6 second-order integral subsystems.However,the accuracy of the model will be affected by the modeling errors and external interference.In order to achieve fast tracking performance,a closed loop controller based on internal model control theory is designed for the decoupling system.Simulation results show that the method has a good static and dynamic performance.

关 键 词：机械臂 动力学模型 逆系统 内模控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]