机械手的高精度轨迹跟踪控制研究

RESEARCH ON HIGH ACCURACY CONTINUOUS PATH TRACKING CONTROL FOR ROBOT MANIPULATORS

本文针对机械手的高精度轨迹跟踪控制问题进行了研究.首先通过一个典型的 SISO 系统用频域分析说明了当采用变结构控制时,只要系统高频未建模部分的相位滞后超过—π/2,就必须引入边界层的结论.然后在此基础上给出了确定一般机械手的对轨迹跟踪精度起决定性作用的回路最高反馈增益的条件.本文同时给出了一种简单实用的动力学参数离线估计方法.最后通过实验给出了高精度控制的结果.

This paper presents the research on high accuracy continuous path tracking control problem for robot ma-nipulators.First,it is shown that for a typical SISO variable structure control system,if the phase-lag of theunmodeling part is over-π/2,then a boundary layer must be introduced,by using frequency domain analysis.The same analysis approach is extended to the general robot manipulators to determine the upper limit of thefeedback gain of controller,which plays an important role in achieving the high accuracy of the continuouspath tracking control.In the meantime,a simple and practical off-line dynamic parameter estimation ap-proach is given.Finally,the result of continuous path tracking control with high accuracy is demonstratedthrough experiments.