六自由度串联机器人自适应鲁棒控制算法的改进  

Six degree of freedom series improved adaptive robust control algorithm for robot

作　　者：莫毅[1] 

机构地区：[1]广西工业职业技术学院电子与电气工程系,南宁市530001

出　　处：《中国农机化学报》2016年第5期232-235,274,共5页Journal of Chinese Agricultural Mechanization

基　　金：广西工业职业技术学院2014年度科学研究项目(桂工业院科研2014056007)

摘　　要：针对鲁棒控制在六自由度串联机器人轨迹跟踪控制性能较差以及自适应控制收敛有限,容易造成机器人出现无法控制和往复震荡等现象。为此,综合考虑机器人动力传输与摩擦学特性,为降低测量误差对系统参数估计的影响,利用极大似然参数估计方法得到参数辨识的精确结果,同时将自适应鲁棒控制的积分参数估计调整为比例积分参数估计,在期望补偿自适应鲁棒控制算法的基础上提出改进自适应鲁棒控制算法。仿真验证表明,提出的改进算法显著提高系统的运动稳定性和可控性,轨迹的跟踪精度大大提高。Series for robust control in six degrees of freedom robot trajectory tracking control performance is poor and adaptive control of convergence is limited,easy to cause the robot to be controlled and reciprocating oscillation phenomenon.Therefore,considering the robot power transmission and tribological characteristics,in order to reduce the influence of measurement error on the system parameter estimation,it was used the maximum likelihood parameter estimation methods for parameter identification of accurate results,at the same time the adaptive robust control of integral parameter estimation is adjusted for PID parameter estimation,the expected compensation adaptive robust control algorithm based on improved adaptive robust control algorithm is proposed.Simulation shows that the improved algorithm is proposed in this paper improve the movement stability and controllability of the system,and the trajectory tracking precision is greatly increased.

关 键 词：鲁棒自适应控制 极大似然参数估计 轨迹跟踪 六自由度串联机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]