基于实时测量的2DOF挠性操作臂的模糊逆动力学控制

Fuzzy Dynamics Control of a 2DOF Flexible Arm Based on Real-Time Deflection Measurement

针对一 2 DOF挠性操作臂 ,对其轨迹跟踪控制进行了研究。基于刚性化假设 ,建立挠性操作臂的动力学运动方程 ,一集成激光传感系统用于实时测量杆臂的挠性变形 ;设计了一个通过模糊逻辑单元调整控制参数的逆动力学控制器 。

This paper presents a novel inverse dynamics control scheme of a 2DOF flexible manipulator incorporating a fuzzy-logic tuner. Due to the complexity of dynamics of flexible manipulator,a simplified dynamics modelis used for rigid manipulator and a flexible states feedback is applied for dynamics compensation, to control the end-point tracking and positioning errors caused by the dynamic deflections. A laser-optical sensing system is specifically dedicated to real time measure the endpoint deflections of each flexible link. The performance of the proposed controller is verified through simulation.