关节驱动机器人的饱和反馈力学控制方法研究  

Research on saturated feedback mechanics control method for joint driven robot

作　　者：林荣霞[1] LIN Rongxia(Huali College,Guangdong University of Technology,Guangzhou 511325,China)

机构地区：[1]广东工业大学华立学院,广州511325

出　　处：《智能计算机与应用》2019年第2期244-247,共4页Intelligent Computer and Applications

摘　　要：关节驱动机器人容易受到饱和跟踪误差干扰,导致机器人的力学控制稳定性不好,为了提高关节驱动机器人的力学输出稳定性,提出一种基于幅值饱和非线性状态反馈的关节驱动机器人力学稳定性控制方法,关节驱动机器人力学稳定性控制过程是一个多变量、非线性、强耦合系统,采用饱和非线性系统构建机器人的被控对象模型,将关节驱动机器人行走的稳态控制问题转化为高维C-空间中的多约束运动规划问题,采用闭环系统反馈修正方法进行反馈力学误差的补偿,采用连杆端动力学控制方法,实现对关节驱动机器人的饱和反馈力学控制。仿真结果表明,采用该方法进行关节驱动机器人控制的输出力学参量平稳性较好,控制输出的稳定性较强,提高了机器人关节驱动的稳健控制能力。Joint driven robot is easily disturbed by saturation tracking error,which leads to poor mechanical control stability. In order to improve the mechanical output stability of joint driven robot,a mechanical stability control method for joint driven robot based on amplitude saturation nonlinear state feedback is proposed. The mechanical stability control process of joint driven robot is a multivariable,nonlinear,strong coupling system. The controlled object model of the robot is constructed by a saturated nonlinear system. The steady state control problem of the joint driven robot is transformed into a multi-constrained motion planning problem in a high-dimensional C-space. The feedback correction method of closed loop system is used to compensate the feedback mechanical error,and the dynamic control method of connecting rod end is adopted to realize the saturated feedback mechanical control of the joint driven robot. The simulation results show that the stability of the output mechanical parameters and the stability of the control output are good,and the robust control ability of the robot joint drive is improved.

关 键 词：关节驱动机器人 力学 控制 误差修正 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]