基于几何不变性和滑动模态算法的冗余机器人运动控制研究  

Research on Motion Control of Redundant Robot Based on Geometric Invariance and Sliding Mode Algorithm

作　　者：姜苏 万刚 JIANG Su;WAN Gang(The Department of Mechanical and Electrical Engineering,Jilin Engineering Vocational College,Siping Jilin 136001,China;The Department of Mechanical Engineering,Jiangsu University,Zhenjiang Jiangsu 213000,China)

机构地区：[1]吉林工程职业学院机电工程学院,吉林四平136001 [2]江苏大学机械工程学院,江苏镇江213000

出　　处：《机床与液压》2021年第5期40-44,共5页Machine Tool & Hydraulics

基　　金：吉林省科技厅重点项目(20140204061GX)。

摘　　要：冗余机器人可以通过冗余自由度实现额外的优化目的。针对受空间约束条件下机器人运动控制问题,采用几何不变性和滑动模态算法,实现冗余机器人的有效控制,并对控制效果进行仿真验证。通过建立冗余机器人系统数学模型,给出冗余机器人轨迹跟踪典型控制方案,优化了冗余机器人控制目标。设计推导出能确保机器人关节位置向量在约束空间内,且冗余机器人关节能平滑到达约束边界的几何不变性和滑动模态算法。采用数学软件MATLAB对平面3R冗余机器人系统进行仿真。同时,与不采用文中算法的计算结果进行对比和分析。仿真结果显示:冗余机器人关节在受到外部约束时,采用几何不变性和滑动模态算法所有关节能保持在约束空间内,同时关节能够平滑地接近约束边界,关节误差在3.2 s就能够快速收敛。Redundant robots can be used for additional optimization purposes with redundant degrees of freedom.Aiming at the problem of robot motion control under space constraints,the geometric invariance and sliding modal algorithm were used to realize the effective control of redundant robots,and the simulation results were verified.By establishing the mathematical model of the redundant robot system,the typical control scheme of the redundant robot trajectory tracking was given,and the redundant robot control target was optimized.The geometric invariance and sliding mode algorithm was deduced by which the robot joint position vector couldbe ensured in the constrained space,and the redundant robot joint could smoothly reach the constraint boundary.The planar 3 R redundant robot system was simulated by the mathematical software MATLAB.At the same time,the simulation results were compare and analyze with the calculation results without using the algorithm.The simulation results show that when the redundant robot joint is subjected to external constraints,all the joints can be kept in the constrained space by geometric invariance and sliding modal algorithm.At the same time,the joint can smoothly approach the constraint boundary,and the joint error can converge quickly in 3.2 s.

关 键 词：几何不变性 滑动模态 冗余机器人 运动控制 

分 类 号：U463[机械工程—车辆工程]