基于关节位置约束的冗余机械臂协调控制误差仿真研究  

Study on Coordinated Control Error Simulation of Redundant Manipulator Based on Joint Position Constraints

作　　者：卢振生[1] 马薇[2] LU Zhensheng;MA Wei(School of Mechanical Engineering, University of Suihua,Suihua Heilongjiang 152061,China;Department of Mechanical Engineering,College of Humanities and Information, Changchun University of Technology,Changchun Jilin 130000,China)

机构地区：[1]绥化学院电气工程学院,黑龙江绥化152061 [2]长春工业大学人文与信息学院机械工程系,吉林长春130000

出　　处：《机床与液压》2020年第13期147-151,共5页Machine Tool & Hydraulics

基　　金：吉林省青年科研基金(20140520105);吉林省能源局项目([2016]35)。

摘　　要：针对冗余机械臂关节位置约束问题,设计了冗余机械臂关节位置控制策略,在不同条件下对机械臂运动效果进行仿真验证。建立冗余机械臂简图模型,通过雅可比矩阵推导机械臂运动方程式。分析机械臂优先级任务体系构造,比较冗余机械臂在不同优先级条件下的极限状态,引入了机械臂监控系统。设置机械臂仿真环境,采用MATLAB软件对机械臂运动进行仿真。结果表明:机械臂2个关节都违背了极限限制;监控系统在保证关节位置规避限制的同时,会导致路径跟踪误差较大。但是,路径跟随误差不会影响所需的相对末端效应器运动,能够保持末端执行器的相对运动,保证抓取对象的稳定性;证明了冗余机械臂控制器的有效性。采用该策略避免了运动过程中的机械臂关节的限制,能够实现机械臂抓取物体的路径跟踪功能。Aiming at the problem of joint position constraint of redundant manipulator,the joint position control strategy of redundant manipulator was designed,and the motion effect of the manipulator was simulated and verified under different conditions.The sketch model of redundant manipulator was established,and the motion equation of the manipulator was deduced by the Jacobian matrix.The priority task architecture of the manipulator was analyzed,the limit states of the redundant manipulator under different priority conditions were compared,and the monitoring system of the manipulator was introduced.The simulation environment of the manipulator was set up and the motion of the manipulator was simulated by using MATLAB software.The results show that both joints of the manipulator violate the limit;the monitoring system can avoid the limitation of joint position and lead to a large path tracking error.The path following error does not affect the required relative end effector motion and can maintain the relative motion of the end effector to ensure the stability of the grasping object;the effectiveness of redundant manipulator controller was proved.By using the strategy can avoid the limitation of the manipulator joint in the process of motion and achieves the path tracking function of the manipulator in grasping objects.

关 键 词：冗余机械臂 监控系统 关节限制 雅可比矩阵 误差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]