冗余驱动并联机器人多目标控制方法  

Multi-objective Control Method for Redundant Drive Parallel Robots

作　　者：李亚美[1] 万里[1] LI Yamei;WAN Li(School of Physics and Technology,Tangshan Normal University,Tangshan 063000,China)

机构地区：[1]唐山师范学院物理科学与技术学院,河北唐山063000

出　　处：《云南师范大学学报（自然科学版）》2023年第6期43-49,共7页Journal of Yunnan Normal University:Natural Sciences Edition

基　　金：河北省教育厅科学研究计划资助项目(ZC2021031)。

摘　　要：冗余驱动并联机器人的关节自由度增加了运动的灵活性,但也增加了碰撞的风险.在多目标控制中,需要对其进行有效的避障控制,以保证机器人在执行任务时的安全性和稳定性.针对这一问题,提出冗余驱动并联机器人多目标控制方法设计.利用拉格朗日法对机器人运动特性展开分析,构建机器人运动方程;在径向基函数(Radial Basis Function, RBF)神经网络的基础上,采用自适应方法建立滑模控制器,并基于李亚普诺夫稳定性对滑模控制器展开修正,提高控制器的稳定性;应用连通性屏障控制和避障屏障控制策略,实现机器人的运动控制.实验结果表明,本文方法能够实现精准避障,且控制误差小、效率高、效果稳定.The joint degrees of freedom of redundant drive parallel robots increase the flexibility of motion,but also increase the risk of collision.In multi-objective control,effective obstacle avoidance control is required to ensure the safety and stability of the robot during task execution.Therefore,in response to this issue,a multi-objective control method design for redundant drive parallel robots is proposed.Analyze the motion characteristics of the robot using the Lagrange method and construct the motion equation of the robot;based on the RBF neural network,an adaptive method is adopted to establish a sliding mode controller,and the sliding mode controller is modified based on Lyapunov stability to improve the stability of the controller;apply connectivity barrier control and obstacle avoidance barrier control strategies to achieve robot motion control.The experimental results show that the proposed method can achieve precise obstacle avoidance,with small control error,high efficiency,and stable effect.

关 键 词：多目标控制 拉格朗日法 RBF神经网络 李亚普诺夫稳定性 屏障控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]