摘要
研究了双臂机器人操作工件运动过程的动力学鲁棒协调控制,在载荷优化分配的基础上建立了系统的动力学方程.针对双臂操作系统动力学模型的不确定性,基于计算力矩结构提出了一种鲁棒协调控制方案,该方案能有效克服系统的不确定性影响和抖振,使得工件运动能较好地跟踪期望的运动轨迹,而当工件匀速运动时能保证内力跟踪误差有界.对平面双臂机器人操作工件的协调运动进行算例仿真.理论分析及仿真结果证明了控制方案的有效性.
The dynamic robust coordinated control for a dual-arm robot handing a single object is studied in the paper. Based on the optimal load distribution, the dynamics equation of dual-arm robot handing a single object is derived. Aiming at uncertainty of the grasp system consisting of the dual-arm and the object, a robust coordinated control scheme is presented based on the computed-torque structure. The scheme can overcome the effect of the uncertainty of the grasp system and the tremble. The movement of the object position can converge to the desired trajectory. The boundary of tracking errors for the internal force is guaranteed . The result of theories and simulations for the coordinated motion of a planar dual-arm robot showed the effectiveness of the robust coordinated control scheme.
出处
《江南大学学报（自然科学版）》
CAS
2008年第1期30-33,共4页
Joural of Jiangnan University (Natural Science Edition)
基金
河南省自然科学基金项目(0211051800)
关键词
双臂机器人
协调运动
载荷分配
鲁棒控制
抖振
dual-arm robot
coordinated motion
load distribution
robust control
tremble
