七轴机器人运动控制与奇异摄动算法研究  

Research on Motion Control and Vibration Suppression Algorithm of Seven Axis Robot

作　　者：李华昌[1] 孙莹莹 孔卫凯 LI Hua-chang;SUN Ying-ying;KONG Wei-kai(Zhumadian Vocational and Technical College, He’nan Zhumadian 463000, China;State Grid Zhumadian Power Supply Company, He’nan Zhumadian 463000, China;School of Mechanical Science & Engineering of HUST, Hubei Wuhan 643000, China)

机构地区：[1]驻马店职业技术学院,河南驻马店463000 [2]国建电网驻马店供电公司,河南驻马店463000 [3]华中科技大学机械科学与工程学院,湖北武汉643000

出　　处：《机械设计与制造》2019年第8期246-250,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51375184)

摘　　要：为满足极端环境对机械臂在集成度和性能方面的特殊要求,提出一种具有高集成度机构的七自由度机械臂,该手臂具有高阶、非线性、强耦合等特点。首先,分析了机械臂结构末端手腕的灵活性和紧凑的特点;其次,建立了机械臂的运动学模型,从正逆运动学两个角度对机器人的结构特征进行了描述,并以其位置与姿态解耦的特点为突破口开发了机械臂的运动学算法;再次提出了一种基于奇异摄动的控制方法,通过振动抑制方法将系统分为快慢两个子系统,实现降阶作用。最后通过实验,通过绘制正逆运动算法的机械臂轨迹曲线,同时针对降阶后的系统设计控制器进行系统分析。实验结果验证了算法的有效性和精确性。In order to satisfy the special requirements of the extreme environment in integration and performance of manipulator,a high degree of integration mechanism is proposed with seven DOF robot arm. The arm has high order,nonlinearity and strong coupling. First of all,analyze the manipulator wrist flexibility and compact structure;secondly,set up the kinematics model of the manipulator,introduces the kinematic characteristics of robot from two aspects,kinematic algorithm is based on position and posture of the manipulator. Once more,put forward the vibration suppression singular control method,Singular perturbation method the system is divided into two subsystems,reduce order. Finally,algorithm of forward and inverse motion is simulated. The controller is designed for reduced order systems and the system experiments are carried out. Verify the effectiveness and accuracy of the algorithm.

关 键 词：七自由度 解耦 奇异摄动 运动学 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]