球面2自由度机器人的滑模变结构控制

Sliding Mode Variable Structure Control of Spherical 2-DOF Robots

球面2自由度5杆机器人的应用非常广泛,可用于机械数字化仪、微操作装置、灵捷眼和人体关节修复装置等。在球面2自由度5杆机器人运动学和动力学模型研究的基础上,提出了该类机器人系统的滑模变结构控制方法。介绍了球面2自由度机器人的机构和动力学模型。引入决定附加补偿力矩的指数趋近律,建立了球面2自由度机器人的控制算法。提出了外力、质量、转动惯量以及滑模控制参数等对球面2自由度机器人的控制精度和系统稳定性的影响规律,并对球面2自由度机器人进行了控制仿真。仿真表明,控制方法是有效的。在选择合理参数下能避免机器人系统的振荡,且能保持系统的稳定性、鲁棒性和提高系统的运动精度。

The sliding mode variable structure control for spherical 2-DOF robots was proposed on the basis of kinematical and dynamical models.The mechanism and dynamic model for spherical 2-DOF robot were described.The exponential reaching law for determining additional compensation torque was introduced,and then the control algorithm of spherical 2-DOF robots was established.The influence of applied force,mass,moment of inertia and control parameters on the control accuracy and stability of spherical 2-DOF robots was studied.The example of simulation control for spherical 2-DOF robots was undertaken and the result showed that the method is effective.The oscillation of system can be avoided,and then stability and good robustness of system can be kept and the high accuracy of system can be obtained by choosing appropriate parameters.