摘要
针对遥操作机器人系统,在空间与医疗手术中应用时出现的从机械臂柔性问题,为了提高跟踪性能,采用拉格朗日法结合假设模态法,建立了末端有集中质量的单连杆柔性从机械臂的动力学模型。在此基础上,设计了一种基于柔性从机械臂的遥操作机器人系统的新型滑模变结构控制方案。进行实例仿真,结果表明,控制方案能有效地抑制柔性从机械臂的弹性振动,自由运动情况下系统能较好地实现位置跟踪。
For the slave flexibility which occurs in space and surgical applications of a tele-manipulation robot system,the dynamic model for single-link flexible slave arm with centralized mass at its end is established by applying Lagrange and assumed mode methods.Based on that,a new sliding mode variable structure control program for the tele-manipulation robot system with flexible slave manipulator is designed.The simulation results of an example show that the control strategy can effectively inhibit the flexibility of the elastic vibration from the slave manipulator and attain better tracking of placement in the free space.
出处
《计算机仿真》
CSCD
北大核心
2010年第8期137-140,共4页
Computer Simulation
基金
国家自然科学基金资助项目(60575051)
关键词
遥操作机器人
柔性机械臂
滑模变结构控制
位置跟踪
Tele-manipulation robot
Flexible manipulator
Sliding-mode control
Placement tracking
