FS-SEA柔性臂改进的反馈计算力矩控制方法  

An Improved Feedback Computed Torque Control Method for FS-SEA Flexible Manipulators

作　　者：陈鹏[1,2] 李洪谊[1,3] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院大学,北京100049 [3]沈阳通用机器人技术股份有限公司,沈阳110000

出　　处：《载人航天》2016年第2期233-240,共8页Manned Spaceflight

基　　金：国家磁约束核聚变能专项(2012GB102005)

摘　　要：对于基于FS-SEA(力源串联弹性驱动器)的柔性关节机械臂,当其动力学模型已知时,反馈计算力矩法是一种非常直观的控制方法。但是对于一个动力学参数难以精确确定,并且可能受到冲击扰动的系统来说,传统的反馈计算力矩法难以进行稳定地控制。在传统的反馈计算力矩法基础上,提出了一种改进的控制方法。通过在控制律中引入自适应补偿项,保证了控制系统在机械臂动力学参数或所受外力无法精确估计情况下的渐近稳定性;通过在系统的加速度指令之后引入低通滤波环节,大幅度增强了控制系统抵抗外部冲击的能力。仿真实验证明,利用改进的反馈计算力矩法对FS-SEA柔性机械臂进行控制,不仅能够保证系统稳定性,实现高精度轨迹跟踪,而且使控制系统具有很强的抗冲击能力。For flexible.joint manipulators based on FS.SEA （force sourced series elastic actuator）,when their dynamic models are known, the feedback computed torque method is a very intuitionalcontrol method. However, for a system whose dynamic parameters are difficult to be determined ac.curately, which probably suffers an external impact as well, the traditional feedback computedtorque method can hardly make a stable control. This paper proposed an improved control methodbased on the traditional feedback computed torque method. Through introducing an adaptive com.pensation term into the control law, the asymptotic stability of the control system was guaranteed inthe case of inaccurate estimation of the manipulator’s dynamic parameters or external force; throughintroducing a low.pass filter after the system’s acceleration command, the control system’s ability ofresisting external impacts was enhanced significantly. The simulations demonstrated that controllingFS.SEA flexible manipulators with the improved feedback computed torque method could not onlyensure system stability and tracking accuracy, but also offer the control system very strong impact re.sisting capability.

关 键 词：柔性机械臂 SEA 计算力矩法 改进 自适应补偿 渐进稳定性 低通滤波 抗冲击 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]