基于力矩负反馈的柔性关节机器人自适应分层滑模控制方法  

Adaptive Hierarchical Sliding Mode Control Method for Flexible Joint Robot Based on Negative Torque Feedback

作　　者：朱敏[1] 李文安 ZHU Min;LI Wenan(School of Electrical and Mechanical Engineering,Kunming Metallurgy College,Kunming 650033,China;Information Center of Yunnan Administration for Market Reulation,Kunming 650032,China)

机构地区：[1]昆明冶金高等专科学校电气与机械学院,云南昆明650033 [2]云南省市场监管局信息中心,云南昆明650032

出　　处：《机械制造与自动化》2024年第6期257-261,共5页Machine Building & Automation

基　　金：云南省自然科学基金项目(202056895645)。

摘　　要：因柔性关节机器人自身动态特性较强,难以捕捉线性变化特性,控制输出力矩稳定性较差。提出一种基于力矩负反馈的柔性关节机器人自适应分层滑模控制方法。分析机械臂与关节动作之间线性变化关系和惯性规律变化,引入自适应方法,建立慢变子滑膜控制规律函数。创新性地结合力矩负反馈,求解机器人关节状态与平衡点隶属度关系求解控制规则,合理控制关节力矩,完成柔性关节机器人自适应分层滑模控制。实验数据证明:所提方法应用后,控制轨迹与期望轨迹之间差距最小,控制精准度高,适用于多种柔性关节,控制输出力矩稳定。In order to overcome the difficulty in capturing linear changes and improve the poor stability of control output torque caused by the strong dynamic characteristics of flexible joint robots,a self-adaptive layered sliding mode control method based on negative torque feedback for flexible joint robots is proposed.The linear relationship and inertia law changes between the robotic arm and joint movements are analyzed,and with the introduction of adaptive methods,a slow variable synovial control law function is established.Negative torque feedback is innovatively combined to solve the relationship between robot joint state and balance point membership,joint torque is reasonably controlled,and adaptive layered sliding mode control is completed for flexible joint robots.The experimental data shows that the application of the proposed method results in the smallest difference between the control trajectory and the expected trajectory with high control accuracy,suitable for various flexible joints and stable in control output torque.

关 键 词：力矩负反馈 柔性关节机器人 自适应分层滑模控制 隶属度关系 模态求解函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]