基于滑模控制器的双臂机器人控制仿真  

Control Simulation of Dual-Arm Robot Based on Sliding Mode Controller

作　　者：敖天翔 李铭浩[1] 刘满禄[1,2] 王姮[1] AO Tianxiang;LI Minghao;LIU Manlu;WANG Heng(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China;School of Information Science and Technology,University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]中国科学技术大学信息科学技术学院,安徽合肥230026

出　　处：《自动化仪表》2019年第2期34-38,共5页Process Automation Instrumentation

基　　金：西南科技大学研究生创新基金资助项目(17ycx122)

摘　　要：针对工业机械臂运动控制中由于建模误差和未知干扰导致的控制误差问题,基于机器人力矩控制方法,采用滑模控制理论,利用关节角运动误差,设计并搭建机器人控制系统。以安川Motoman-SDA20机器人为例,对该机器人进行了运动学与动力学分析,搭建相关数学模型,并针对该机器人系统设计了滑模运动控制器。在机器人仿真环境VERP与Simulink中搭建联合仿真平台,对虚拟环境中的机械臂进行运动控制仿真试验,验证了算法的有效性。试验对比了逆运动学控制与滑模控制算法效果,同时对滑模控制算法在机械臂定点运动与轨迹跟踪中的控制效果进行了验证与分析。该控制算法计算过程简明、便于设计。利用VERP仿真平台,获得了更加直观的效果,实现了存在较大建模误差与较小控制频率下的机械臂位置控制,角度误差在0. 3 rad以内。该研究对于机器人控制算法的研究与仿真环境的搭建具有借鉴意义。Aiming at the problem of control error caused by modeling error and unknown disturbance in the motion control of industrial manipulator,by using the theory of sliding mode control and the motion error of joint angle and based on the moment control method of robot,a control system of robot is designed and constructed.Taking Yasukawa Motoman-SDA20 robot as an example,kinematics and dynamics analysis of the robot is conducted,the relevant mathematical models are built,and the sliding mode motion controller is designed for the robot system.The joint simulation platform is built in the robot simulation environment VERP and Simulink,and the motion control simulation experiment of the manipulator in the virtual environment proves the validity of the algorithm.The results of inverse kinematics control and sliding mode control are compared.At the same time,the control effect of sliding mode control algorithm in fixed-point motion and trajectory tracking of manipulator is verified and analyzed.The calculation process of the control algorithm is concise and easy to design.The VERP simulation platform is used to obtain more intuitive effect.The position control of the manipulator under larger modeling error and smaller control frequency conditions is realized.The angle error is less than 0.3 rad.It has reference significance for the research of robot control algorithm and the construction of simulation environment.

关 键 词：机械臂 滑模控制 力矩控制 安川机器人 VERP 跨平台仿真 容错控制 

分 类 号：TH113.2[机械工程—机械设计及理论]