关节非线性的串联双连杆机械臂运动控制研究  

Motion Control Study in a Series of Two Link Linkage Mechanical Arm Considering Joint Nonlinearity

作　　者：李桂娇 张长春[2] LI Guijiao;ZHANG Changchun(Mechanical and Electrical College of Changchun Polytechnic,Changchun Jilin 130033,China;The School of Mechanical and Electrical Engineering,Jilin University,Changchun Jilin 130033,China)

机构地区：[1]长春职业技术学院机电学院,吉林长春130033 [2]吉林大学机电工程学院,吉林长春130033

出　　处：《机床与液压》2019年第23期83-88,共6页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划项目(20160307011NY);吉林大学研究生创新基金资助项目(20161099)

摘　　要：各轴上的关节非线性和不同轴间的动力学耦合效应是导致多轴工业机器人轨迹跟踪误差的主要非线性因素。因此,提出一种考虑关节非线性的串联双连杆机械臂模型的工业机器人运动控制方法。通过构造机械臂运动学和动力学模型,将连杆的非线性刚度和摩擦力直接辨识为关节非线性,从而进行参数化建模,通过实验验证了模型的有效性;提出了辨识双连杆动态模型的二自由度控制方案及带可变陷波滤波器的反馈整型控制方案,对机械臂运动进行控制。实验结果表明:与常规PI轨迹跟踪控制方法相比,此控制方案缩短了调整时间且减小了最大路径误差,降低了超调量。研究表明该控制方案能够有效地抑制残余振动,提高机械臂运动稳定性和轨迹追踪精度。At present, the main nonlinear factors that lead to the trajectory tracking error of multi-axis industrial robots are the joint nonlinearity on each axis and the dynamic coupling effect between different axes. Therefore, a motion control method for industrial robots is proposed, which considers the joint nonlinearity in a series of two-link manipulators. The kinematics and dynamics model of the manipulator was constructed, the nonlinear stiffness and friction of the connecting rod were directly identified as joint nonlinearity, and a parametric modeling method was proposed. The validity of the method was verified by numerical simulation and experimental comparison . At the same time, two control schemes which identified the dynamics model, the feedback closed-loop control with variable notch filter and two-degree-of-freedom (2-DoF) control with dynamic feed-forward compensation, were adopted to control the motion of the mechanical arm. The experimental results show that compared with the conventional Proportion Integral (PI) trajectory tracking control method, the control scheme proposed reduces the adjustment time, maximum path error and overshoot. The study shows that the control scheme can effectively suppress the residual vibration, improve the motion stability and track tracking accuracy of the mechanical arm.

关 键 词：关节非线性 双连杆 机械臂 工业机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]