基于三阶超螺旋滑模观测器算法的机器人力矩估计方法  

Torque estimation algorithm of robot based on third-order super-twisting sliding mode observer

作　　者：从永正 程盈盈[1] 胡正 CONG Yong-zheng;CHENG Ying-ying;HU Zheng(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei Anhui 230009,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230009

出　　处：《控制理论与应用》2023年第7期1208-1215,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(62073113,62003122);安徽省自然科学基金项目(2008085UD03)资助。

摘　　要：本文研究了六自由度(6-DOF)机器人关节力矩估计问题.为了提高机器人关节力矩估计精度,本文设计了一种三阶超螺旋滑模关节力矩观测器.在对观测器系统进行稳定性分析时,本文设计了一种新的Lyapunov函数证明了观测器闭环系统的稳定性.与已有的机器人力矩观测器结果不同,该力矩观测器仅以机器人关节角度作为观测器输入信号,减少了对机器人系统信息的依赖.最后,以6-DOF工业机器人为对象,开展实验验证.实验结果表明,与传统线性力矩观测器相比,本文提出的滑模力矩观测器估计误差小,验证理论的正确性.In this paper,the joint torque estimation of the six-degree-of-freedom(6-DOF)robots is studied.In order to improve the accuracy of the robot joint torque estimation,a third-order super-twisting sliding mode joint torque observer is designed.In the stability analysis of the observer system,a new Lyapunov function is designed to prove the stability of the closed-loop system of the observer.Unlike the results of existing robot joint torque observers,the torque observer proposed in this paper uses only the robot joint angle as the observer input signal,which reduces the reliance on the robot state information.Finally,the 6-DOF industrial robot is used as the object for experimental verification.The experimental results show that the estimation error of the sliding mode torque observer is smaller than that of the linear torque observer,which verifies the correctness of the theory.

关 键 词：六自由度机器人 三阶超螺旋滑模观测器 有限时间收敛 力矩估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]