平面2自由度冗余驱动并联机器人的非线性同步控制研究  

Study on the Nonlinear Synchronization Control of a Plane 2-DOF Redundantly Actuated Parallel Robot

作　　者：明瑞浩 惠记庄[1] MING Rui-hao;HUI Ji-zhuang(School of Construction Machinery,Chang＇an University,Xi＇an Shaanxi 710000,China)

机构地区：[1]长安大学工程机械学院,陕西西安710000

出　　处：《机械研究与应用》2018年第4期137-141,共5页Mechanical Research & Application

摘　　要：为改善平面二自由度冗余驱动并联机器人由于自身的多运动链以及关节间强耦合性的结构特点而造成的各支链间运动不协调的问题,基于并联机器人同步耦合误差控制技术提出一种非线性同步控制方法,并利用Lyapunov稳定性理论和La Salle不变性原理分析证明了所提出的控制方法能保证并联机器人系统的全局渐近稳定性。同时,利用MATLAB软件对并联机器人在典型的计算力矩控制和所提出的非线性同步控制下进行运动仿真,仿真结果表明,非线性同步控制能进一步减小并联机器人在运动中的位置误差,提高机器人协调运动的精度,获得更好的同步性能。In order to solve the problem of uncoordinated movement among branches of plane two-degree-of-freedom redundant actuation parallel robot due to its own multi-kinematic chain and structural characteristics of strong coupling among joints,a nonlinear synchronization control method based on the synchronous coupling error control of parallel robot is proposed in this paper,and the Lyapunov stability theory and La Salle invariance principle are used to prove that the proposed control method can ensure the global asymptotic stability of the parallel robot system. At the same time,the MATLAB software is used to simulate the parallel robot under the typical calculation of torque control and the proposed nonlinear synchronization control.The results of simulation show that the nonlinear synchronization control can further reduce the position error of parallel robot in the movement and improve the precision of coordinated movement of the parallel robot,and get better synchronous performance.

关 键 词：并联机器人 冗余驱动 非线性同步控制 计算力矩控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]