二连杆柔性关节机械臂轨迹跟踪控制方法  

Track Tracking of Bilink Flexible Joint Robotic Arm

作　　者：郭新兰[1] 姚利娜[2] GUO Xin-lan;YAO Li-na(College of Rail Transit,Nanjing Communications Institute of Technology,Jiangsu Nanjing 211188,China;School of Electrical Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)

机构地区：[1]南京交通职业技术学院轨道交通学院,江苏南京211188 [2]郑州大学电气工程学院,河南郑州450001

出　　处：《机械设计与制造》2023年第12期249-253,共5页Machinery Design & Manufacture

基　　金：第五期江苏省职业教育教学改革研究课题:1+X证书制度下高职院校人才培养质量评价研究(ZYB564);2022年江苏高校“青蓝工程”优秀教学团队项目(苏教师函[2022]29号)。

摘　　要：为解决应用传统方法导致的关节角度偏差大、轨迹控制效果不佳等问题,提出一种二连杆柔性关节机械臂轨迹跟踪控制方法。先分析轨迹控制阶跃响应时间过长的原因,然后以现有柔性关节轨迹控制器为基础,引入径向基神经网络模型,最后采用拉格朗日第二类方程和系统动量守恒定理明确训练函数,构建机械臂轨迹控制器模型,以实现机械臂轨迹的控制。实验结果表明,应用所提方法进行控制时,其阶跃响应时间约为1.1s,轨迹控制偏差为0.7mm,关节调整角度误差仅为0.05rad,有效降低了阶跃响应上升时间和轨迹控制偏差,提高了对二连杆柔性关节机械臂轨迹的控制精度,具备一定应用价值。In order to solve the problems of large joint angle deviation and poor track control effect caused by traditional methods,a track tracking control method for a two-link flexible joint manipulator is proposed.Firstly,the reason why the step response time of trajectory control is too long is analyzed.Then,based on the existing flexible joint trajectory controller,the radial basis function neural network model is introduced.Finally,the training function is defined by using Lagrange´s second type equation and the conservation theorem of system momentum,and the trajectory controller model of the manipulator is constructed to realize the trajectory control of the manipulator.The experimental results show that when the proposed method is applied to control,the step response time is about 1.1s,the trajectory control deviation is 0.7mm,and the joint adjustment angle error is only 0.05rad,which effectively reduces the step response rise time and the trajectory control deviation,improves the control accuracy of the trajectory of the two-link flexible joint manipulator,and has certain application value.

关 键 词：径向基神经网络 柔性关节机械臂 高斯函数 拉格朗日 阶跃响应时间 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]