摘要
利用超声电机低速大转矩特性,实现了三关节机器人的直接驱动。一方面,由于超声电机是通过定转子间的摩擦驱动,其模型无法精确描述,另一方面,由于无法在方程中将关节机器人的所有动力参数表达出来,因而该机器人在控制中存在摩擦干扰和参数不确定带来的动力干扰。针对这些干扰,采用了非线性H∞控制方式,以L2增益作为设计指标,设计了H∞控制器。实践证明,非线性H∞控制器不仅可以保证机器人稳定运行,而且位置精度大为提高。最后,还对控制器的鲁棒性进行了实验验证,结果表明该控制器有很好的抗干扰能力。
A three--joint robot was directly driven by ultrasonic motors with advantage of high torque at low speed. On the one hand, ultrasonic motors were driven by the frictional force between rotor and stator, on the other hand, it was almost impossible to identify all the dynamic parameters appearing in the equations of motion of the robot, so there were frictional disturbances and dynamic disturbances due to the parametric uncertainties in the robot control. To solve the problem, a robust nonlinear H∞ control system with the induced L2-gain attenuation was designed. Experimental results show the robot has achieved good positional resolution as well as smooth operation. Finally, a robust experiment shows the controller has a strong performance of anti-disturbances.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第19期2283-2286,2309,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50675098)
