基于模糊滑模控制的双6-DOF机械臂协同控制方法  

Cooperative Control Method of Double 6-DOF Robotic Arm Based on Fuzzy Sliding Mode Control

作　　者：王宏民 蒋孟 邹云辉 黄建坷 潘增喜 Wang Hongmin;Jiang Meng;Zou Yunhui;Huang Jianke;Pan Zengxi(Faculty of Intelligent Manufacture,Wuyi University,Jiangmen,Guangdong 529020,China;Wollongong University,Wollongong,NSW 2522,Australia)

机构地区：[1]五邑大学智能制造学部,广东江门529020 [2]伍伦贡大学,澳大利亚伍伦贡NSW 2522

出　　处：《机电工程技术》2024年第6期79-83,共5页Mechanical & Electrical Engineering Technology

基　　金：江门市基础与应用基础研究重点项目(202103010103260007341);广东省新一代信息技术重点领域专项(2021ZDX1086);五邑大学港澳联合基金(2021WGALH18)。

摘　　要：目前,双机械臂搬运系统的传统搬运策略存在搬运效果差、双机械臂同步性较差等问题,同时双机械臂的轨迹规划只针对末端轨迹,并未考虑运动状态下机械臂关节处产生的力矩。通过建立UR5机械臂的模型,分析双机械臂搬运状态的运动特点,建立了一种新的基于模糊滑模控制的双机械臂协同控制方法。首先通过对双机械臂建立运动学闭链约束关系,使得双机械臂能够实现期望轨迹运动,其次建立双机械臂的相邻误差交叉耦合同步策略,意在解决双机械臂之间的同步性问题,最后提出的模糊滑模控制策略,通过建立滑模面和滑模趋近律,实现机械臂的轨迹跟踪效果与关节处的控制输入稳定。最后通过对UR5机械臂进行滑模控制仿真,验证了该策略的可行性。At present,the traditional handling strategy of the double manipulator handling system has problems such as poor handling effect and poor synchronization of the double manipulator,and the trajectory planning of the double manipulator arm is only for the end trajectory,and the torque generated at the joint of the manipulator in the moving state is not considered.By establishing the model of UR5 robotic arm,analyzing the motion characteristics of the double robotic arm handling state,a new cooperative control method of double robotic arm based on fuzzy sliding mode control is established.Firstly,by establishing the kinematic closed-chain constraint relationship for the double robotic arm,it enables the double robotic arm to achieve the desired trajectory motion,secondly,it establishes the adjacent error cross-coupling synchronization strategy of the double robotic arm,which is intended to solve the synchronization problem between the double robotic arm,and the suggested fuzzy sliding mode control strategy is ultimately validated,by establishing the sliding mode surface and the sliding mode convergence law,realizes the trajectory tracking effect of the robotic arm with the control input stability at the joint.In conclusion,the effectiveness of this strategy has been substantiated by conducting a sliding mode control simulation on the UR5 robotic arm.

关 键 词：双机械臂搬运 模糊滑模控制 交叉耦合同步策略 运动学闭链约束 轨迹跟踪 UR5机械臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]