混联机械臂系统带遗忘因子的迭代学习角同步控制  

Synchronization Control of Hybrid Manipulator System

作　　者：万鹏 田汪洋 周吉 黄志来 徐培民[1,2] WAN Peng;TIAN Wangyang;ZHOU Ji;HUANG Zhilai;XU Peimin(Anhui Province Key Laboratory of Special Heavy Load Robot, Maanshan 243000, China;School of Mechanical Engineering ,Anhui University of Technology, Maanshan 243000, China;Zhejiang ECO Environmental Technology Co Ltd,Huzhou 313000, China)

机构地区：[1]特种重载机器人安徽省重点实验室,安徽马鞍山243000 [2]安徽工业大学机械工程学院,安徽马鞍山243000 [3]浙江宜可欧环保科技有限公司,浙江湖州313000

出　　处：《东莞理工学院学报》2020年第3期109-113,共5页Journal of Dongguan University of Technology

摘　　要：建立了四自由度混联机械臂系统动力学模型,并根据系统重复运动的特点,设计了带遗忘因子的迭代学习的同步控制算法(ILSCFF),实现机械臂系统的角同步运动,并证明控制算法的收敛性。仿真结果表明,无论是三角函数形式的轨迹跟踪还是控制目标为常值,相比于PID控制,带遗忘因子的迭代学习的同步控制有更高的同步精度和更快的动态响应。In this paper,the dynamic model of a parallel-series hybrid manipulator system with four degrees of freedom is established.According to the characteristics of the system repetitive motion,the iterative learning synchronous control with forgetting factor(ILSCFF)is designed to realize the angular synchronous motion of the robot arm system and to prove the convergence of the control algorithm.The simulation results show that it has a better synchronous precision and a faster dynamic response than PID control,whether it is the track tracking of trigonometric function or constant value.

关 键 词：混联机械臂 遗忘因子 迭代学习 同步控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]