基于降阶约束的自适应滑模算法对运动竞赛机器人局部控制的优化研究  

Optimization of adaptive sliding mode algorithm based on reduced order constraints for local control of sport competition robots

作　　者：刘春娟[1] LIU ChunJuan(Shaanxi Xueqian Normal University,Xi’an 710061,China)

机构地区：[1]陕西学前师范学院,西安710061

出　　处：《自动化与仪器仪表》2024年第9期234-238,共5页Automation & Instrumentation

基　　金：陕西省教育厅科学研究项目《基于步态特征的人体运动行为识别分析研究》(18JK0194)。

摘　　要：面向运动竞赛机器人领域,研究选择灵活性更佳的多机械臂机器人进行研究。针对受约束多机械臂系统的力/位混合控制问题、受摩擦力等不确定因素影响的多机械臂系统的力/位混合控制问题,分别建立对应的动力学模型,并以自适应滑模算法为基础,结合降阶方法、模糊算法、鲁棒算法来实现对机械臂的力/位混合控制,增强系统鲁棒性和稳定性。实验结果表明,模型的稳定性和准确性分别达到了98.47%和99.98%,其响应时间仅0.87 s。综上可知,研究提出的基于降阶约束与模糊控制的自适应滑模算法,能够实现较好的机器人控制效果。Aiming at the field of sports competition robot,the multi-arm robot with better flexibility is selected for research.Research is conducted on the force position hybrid control problem of constrained multi robotic arm systems,and the force position hybrid control problem of multi robotic arm systems affected by uncertain factors such as friction.Corresponding dynamic models are established,and based on adaptive sliding mode algorithm,combined with order reduction method,fuzzy algorithm,and robust algorithm,the force position hybrid control of robotic arms is achieved to enhance system robustness and stability.The experimental results show that the stability and accuracy of the model reach 98.47%and 99.98%respectively,and the response time is only 0.87s.In conclusion,the adaptive sliding mode algorithm based on reduced order constraint and fuzzy control proposed in this study can achieve better robot control effect.

关 键 词：多臂机器人 约束 滑模 模糊控制 力/位 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]