考虑关节非线性的串联双连杆机械臂工业机器人运动控制  

Motion Control of Industrial Robot with Series Two-link Manipulator Considering Joint Nonlinear

作　　者：张军[1] 许洪龙[1] Zhang Jun;Xu Honglong(Department of Mechanical and Electrical Engineering,Jiangyin Polytechnic College,Jiangyin 214005,China)

机构地区：[1]江阴职业技术学院机电工程系

出　　处：《机械传动》2020年第1期28-34,共7页Journal of Mechanical Transmission

摘　　要：当前,导致多轴工业机器人轨迹跟踪误差的主要非线性因素是各轴上的关节非线性和不同轴间的动力学耦合效应。对此,提出了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。构造了机械臂运动学和动力学模型,提出了一种参数化建模方法,将连杆的非线性刚度和摩擦力直接辨识为关节非线性,并将该方法应用于具有低频振动特性、对轨迹性能具有重要影响的典型多轴工业机器人的串联双连杆臂,再现串联双连杆机械臂的运动状态,通过数值模拟和实验对比,验证了该方法的有效性。采用含可变陷波滤波器的反馈闭环控制和动态前馈补偿2自由度控制两种控制方案,提高机械臂轨迹跟踪和残余振动抑制的性能。结合4种不同运动形式,开展实验研究,与常规PI轨迹跟踪控制方法进行对比分析。结果表明,采用具有可辨识双连杆动力学模型和带可变陷波滤波器反馈闭环回路的2自由度控制方案能够提高轨迹追踪和残余振动抑制性能。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 dynamics coupling effect between different axes.For this,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 is constructed,and a parametric modeling method is proposed. The nonlinear stiffness and friction force of the connecting rod are directly identified as joint nonlinearity. The method is applied to the series two-link manipulator of a typical multi-axis industrial robot with low-frequency vibration characteristics and important influence on trajectory performance. The motion state of the serial double-link manipulator reproduced,the validity of the method is verified by numerical simulation and experimental comparison. Two control schemes,feedback closed-loop control with variable notch filter and two-degree-of-freedom control with dynamic feed-forward compensation are adopted to improve the performance of trajectory tracking and residual vibration suppression. Combining four different motion forms,the experimental study is carried out and compared with the conventional PI trajectory tracking control method. The results show that the two-degree-of-freedom control scheme with identifiable twolink dynamics model and feedback loop with variable notch filter can improve the trajectory tracking and residual vibration suppression performance.

关 键 词：关节非线性 双连杆 机械臂 工业机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]