空间机械臂关节非线性摩擦建模及补偿  

Modeling and Compensation of Non-linear Friction for Spatial Robotic Arm Joint

作　　者：付建宁[1] 詹涵菁[1,2] 黄文康[1] 

机构地区：[1]湖南大学深空探测联合研究中心,湖南长沙410082 [2]重庆大学深空探测联合研究中心,重庆400044

出　　处：《机械传动》2014年第12期28-32,72,共6页Journal of Mechanical Transmission

基　　金：国防科工委资助项目

摘　　要：针对空间机械臂关节存在的非线性摩擦问题,提出了一种非线性摩擦建模及补偿方法。首先,根据建立的机械臂关节动力学方程推导出非线性摩擦与电机电流、角加速度的关系;然后,通过测得的机械臂关节角度信号,设计了Kalman-牛顿预测器来估计负载端的角加速度,并利用估计的角加速度和采样电流值计算出摩擦力矩,建立机械臂关节的指数摩擦模型;最后,基于该模型设计了前馈补偿控制器,用于对机械臂关节的非线性摩擦进行补偿。通过机械臂关节驱动实验验证了此方法的可行性。Aiming at the non--linear friction problem of spatial robotic arm joints, non--linear friction modeling and compensation methods are proposed. Firstly, the relationships between the non --linear friction and the motor current and the non--linear friction and the angular acceleration are de- rived based on the established dynamics equations of robotic arm joints. Then, the angular acceleration is estimated based on the Kalman--Newton prediction machine which is designed through the sampled angle signal. Through the angular acceleration and sampling current, the friction torque is calculated, and an exponential friction model is established. Finally, based on the friction model, a feed--forward compensation controller is designed to compensate the non--linear friction. The suitability o5 this methods is verified via a series of robotic arm joint driving experiments.

关 键 词：机械臂关节 非线性摩擦 Kalman--牛顿预测方法 前馈补偿 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]