考虑柔性关节的机械臂自适应运动控制策略研究

Adaptive Motion Control Strategy for Flexible-joint Robot Manipulators

摘要:

具有柔性关节的轻型机械臂因其自重轻、响应迅速、操作灵活等优点,取得了广泛应用；针对具有柔性关节的机械臂系统的关节空间轨迹跟踪控制系统动力学参数不精确的问题,提出一种结合滑模变结构设计的自适应控制器算法；通过自适应控制的思想对系统动力学参数进行在线辨识,并采用Lyapunov方法证明了闭环系统的稳定性；仿真结果表明,该控制策略保证了机械臂系统对期望轨迹的快速跟踪,具有良好的跟踪精度,系统具有稳定性。

Abstract:

The light robotic manipulators with flexible joint has been widely used,because of the features of light weight, quick response and flexible operation. Aiming at trajectory tracking of flexible-joint robotic manipulator affected by systems dynamic parameter uncertainties,a adaptive motion control algorithm is proposed for flexible-joint robot manipulators based on synovial variable structure control method in this paper. According to the online identification of the system dynamics parameter adaptive control theory, the stability of the closed-loop system is proved by using Lyapunov method. The simulation results show that the control strategy can ensure the manipulator system tracking of the desired trajectory, has better tracking accuracy.