区域约束环境下柔性关节机械臂的一致性控制  

Region Constrained Consensus Control of Flexible-Joint Robot Manipulators

作　　者：吴梦洋 杨吉康 于晋伟 WU Mengyang;YANG Jikang;YU Jinwei(College of Mathematics,Taiyuan University of Technology,Taiyuan 030024)

机构地区：[1]太原理工大学数学学院,太原030024

出　　处：《系统科学与数学》2024年第1期60-70,共11页Journal of Systems Science and Mathematical Sciences

基　　金：山西省自然科学基金(20210302124546);太原理工大学2022年校专项/青年基金(2022QN100)资助课题。

摘　　要：文章研究了柔性关节机械臂在区域约束条件下的一致性控制问题,提出了一种基于区域势函数约束环境下的柔性关节机械臂一致性控制算法,该算法能够有效控制柔性机械臂同步态的范围,无需计算最终的同步态,因而适用于实际多柔性关节机械臂区域内的协同控制和应用.进一步地,基于网络拓扑结构特征,给出了实现柔性关节机械臂区域可达一致性控制的充分条件.最后,文章给出了数值模拟以验证所提算法的有效性和正确性.The region constrained consensus of flexible-joint robot manipulators is studied.A consensus control torque for flexible-joint robot manipulators is proposed based on the regional potential functions,which can effectively guarantee the range of the synchronization state of flexible manipulators without calculating the final synchronization state,so it is suitable for cooperative control and application of multiple flexible-joint manipulators in the task space.Further more,a sufficient condition for solving region consensus problems is presented based on the structure of network topology.Finally,the effectiveness of the obtained theoretical results is verified by numerical simulations.

关 键 词：一致性 区域约束控制 机械臂 柔性关节 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]