基于弹性关节的二自由度机械臂建模与控制研究  

Modeling and control of 2-DOF robot arm based on elastic joint

作　　者：刘杰 历飞雨 LIU Jie;LI Fei-yu(Shanxi Vocational University of Engineering Science and Technology,Jinzhong 030619,China;School of Instruments and Electronics,North University of China,Taiyuan 030051,China)

机构地区：[1]山西工程科技职业大学,山西晋中030619 [2]中北大学仪器与电子学院,山西太原030051

出　　处：《机电工程》2022年第6期846-853,共8页Journal of Mechanical & Electrical Engineering

基　　金：山西省重点研发计划资助项目(201603D321117);山西省回国留学人员科研资助项目(2020-110)。

摘　　要：针对传统弹性关节存在的问题,提出了一种新的弹性关节,并在此基础上设计了一款二自由度机械臂。首先,对基于优化后的弹性关节系统进行了数学模型分析,进而给出了可靠的控制方式;然后,以弹性关节为基础,提出了二自由度机械臂的机械结构设计和位置控制算法,并给出了机械臂样机,采用双回路控制方案设计了机械臂的控制算法;其中,内环采用模型参考自适应控制器(MRAC)来处理系统参数的不确定性,外环采用模糊比例积分控制器(FPIC)来减小外部扰动对负载的影响;最后,为了验证该控制算法对弹性关节以及机械臂的适用性,利用MATLAB对二自由度机械臂系统进行计算仿真实验。研究结果表明:所提出的控制器概念具有响应速度快、误差小的优点,且当存在外部干扰时,FPIC-MRAC控制器的响应明显优于PID控制器,控制器能够很好地保持机械臂系统的稳定;该结果验证了此控制算法的有效性。Aiming at the problems of traditional elastic joints,a new elastic joint was proposed,and a two-degree-of-freedom manipulator was designed on the basis.Firstly,the mathematical model of the optimized elastic joint system was analyzed to explore a reliable control mode.Secondly,the mechanical structure design and position control algorithm of the two degree of freedom manipulator were given,and the manipulator prototype was designed.A double loop control scheme was adopted by the control algorithm of the manipulator adopts,in which the model reference adaptive controller(MRAC)was used in the inner loop to deal with the uncertainty of system parameters,and the fuzzy proportional integral controller(FPIC)was used in the outer loop to reduce the influence of external disturbance on the load.Finally,in order to verify the applicability of the control algorithm to elastic joints and manipulators,a computational simulation experiment was carried out on the two-degree-of-freedom manipulator system using MATLAB.The results show that the proposed controller concept has the advantages of fast response and small error.When there is external interference,the response of FPIC-MRAC controller is obviously better than PID controller,and the controller can maintain the stability of the manipulator system.The result verifies the effectiveness of this control algorithm.

关 键 词：机器人执行机构 双环位置控制算法 谐波传动 行星传动机构 模型参考自适应控制 模糊比例积分控制 

分 类 号：TH-39[机械工程] TP241[自动化与计算机技术—检测技术与自动化装置]