基于双曲正切函数的采摘机械臂滑模跟踪控制  

Sliding mode tracking control of picking manipulator based on hyperbolic tangent function

作　　者：李杰浩 刘宏鲜 罗群斐 卢家欢 LI Jiehao;LIU Hongxian;LUO Qunfei;LU Jiahuan(College of Engineering,South China Agricultural University/Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院/南方农业机械与装备关键技术教育部重点实验室,广东广州510642

出　　处：《华南农业大学学报》2025年第2期238-245,共8页Journal of South China Agricultural University

基　　金：广州市科技计划项目(2024A04J4140);机器人技术与系统全国重点实验室开放基金(SKLRS-2024-KF-08);国家自然科学基金(62203176)。

摘　　要：【目的】解决机械臂在农业领域应用中末端轨迹跟踪控制问题,确保农业采摘机器人采摘末端高精度轨迹跟踪和系统稳定运行。【方法】提出一种基于双曲正切函数采摘机械臂的滑模跟踪控制方法。根据逆向运动学构建基于工作空间的机械臂动力学模型,设计双曲正切函数的滑模跟踪控制器,由Lyapunov函数保证控制系统的渐进稳定性。在MATLAB/Simulink环境中搭建机械臂仿真控制系统进行控制算法验证,分析滑模控制器对机械臂末端轨迹的跟踪效果。【结果】仿真试验结果表明,与切换函数滑模控制器相比,基于双曲正切函数的滑模控制器能够实现高精度的轨迹跟踪和稳定控制,提高末端轨迹跟踪的收敛速度,减小机械臂末端轨迹跟踪控制误差,并使末端轨迹跟踪曲线的收敛时间减少50%,有效提高机械臂采摘系统的实时性和跟踪精度。【结论】研究可为机械臂采摘的实际应用提供有效的控制方法。【Objective】To solve the problem of end trajectory tracking control in the application of mechanical arms in the agricultural field,and ensure the high-precision trajectory tracking and stable operation of the agricultural picking robot picking end.【Method】It was suggested to use a hyperbolic tangent function-based sliding mode tracking control approach for a picking robot arm.A model of the manipulator dynamics based on the workspace was built using inverse kinematics,and a sliding mode tracking controller for the hyperbolic tangent function was created.The asymptotic stability of the control system was guaranteed by the Lyapunov function.The simulation control system of the manipulator was built in the MATLAB/Simulink environment to verify the control algorithm,and the tracking effect of the sliding mode controller on the end trajectory of the manipulator was analyzed.【Result】The simulation test results showed that the sliding mode controller based on the hyperbolic tangent function achieved high-precision trajectory tracking and stable control,improved the convergence speed of the terminal trajectory tracking,reduced the robot end trajectory tracking control error,and reduced the convergence time of the terminal trajectory tracking curve by 50%,effectively improved the real-time performance and tracked accuracy of the robot picking system compared with the switching function sliding mode controller.【Conclusion】The research can provide an effective control method for the practical application of robotic arm picking.

关 键 词：采摘机械臂 工作空间 滑模控制 双曲正切函数 轨迹跟踪 

分 类 号：S225[农业科学—农业机械化工程] TP241[农业科学—农业工程] TP273[自动化与计算机技术—检测技术与自动化装置]