基于输入整形技术的柔性关节机械手控制研究

Research on control scheme for flexible joint robot based on input shaper

柔性机械手具有双时标特性,现有控制策略中需要对电机转角及机械臂转角的状态反馈,增加了控制策略的复杂性。建立了柔性关节机械手动力学模型,针对目前控制策略存在的算法复杂问题,提出了基于输入整形技术的柔性关节机械手运动控制策略。以电机转角作为反馈,根据机械手末端输出与目标输入之间的传递函数,设计了脉冲序列,通过与目标轨迹的卷积进行整形,可以实现轨迹跟踪。通过仿真实例表明,通过对目标轨迹的整形,能够有效减小超调和残余振动,具有一定的可行性。

The self-adaptive control scheme has been researched for flexible-joint robots.When the system parameters are known,the other hand,when the system parameters are unknown,the original adaptive design method requires knowledge of joint accelerations that are prone to noise in order to control flexible joint robot manipulators.In order to overcome the problem,we present an additional robust control law in conjunction with the adaptive design procedure,with the known boundary of model error,it realizes self-adaptive control for flexible-joint robots with unknown model parameter.Compared with most of the available control schemes for flexible joint robot system that assume weak joint flexibility or knowledge of joint accelerations,the proposed control law guarantees global stability of the robot manipulators with uncertain joint flexibility without recourse to any joint acceleration or jerk measurements