一种基于交叉耦合控制的串联机器人笛卡尔空间轨迹跟踪方法

A Trajectory Track Method of Serial Robot Based on Cross-coupled Control in Cartesian Space

针对串联机器人在笛卡尔空间轨迹跟踪问题,将交叉耦合策略和机器人运动学结合起来,设计了机器人在笛卡尔空间位置控制中耦合误差的一般性构建方法,进而提出了一种新型脱离动力学模型的控制算法.该算法不仅能保证单个关节的运动稳定,同时还可以保证所有的关节运动协调,使位置误差和耦合误差都收敛到零.最后,设计了基于HIT/DLR灵巧手笛卡尔空间位置控制实验,验证了该方法的有效性.

Aiming at the trajectory track of serial robot in Cartesian space,a general construction method of coupled position error,which based on cross-coupled strategy and robot kinematics,is proposed.Further Presents a new tracking controller based on this method.The controller does not explicitly use the dynamic modeling parameters and can ensure that each manipulator tracks its desired trajectory while coordinating its motion with other manipulator＇s motion,it can successfully guarantees asymptotic convergence to zero of both position tracking and cross-coupled error.Experiments on HIT/DLR hand demonstrate the effectiveness of the approach.