五自由度机械臂的运动学分析及时滞控制

Kinematics Analysis and Time Delayed Control of a Five-Degree of Freedom Manipulator

针对五自由度刚性机械臂的操作系统,设计了一种简单的运动学解算方法。在电机的控制系统中,考虑了控制时滞对系统稳定性的影响,可以提高控制系统的性能;采用低通滤波器时间连续法(LPCTA)将时滞微分方程转换为不显含时滞的微分方程,从而简化了运算;采用最优控制方法进行了控制器设计。实验结果表明:文中提出的运动学解算方法运算量小、准确,适用于机械臂的实时控制应用;所设计的五自由度机械臂的时滞控制系统能够实现机械臂轨迹的跟踪。

An approach to analyze kinematics of a five-degree of freedom （5-DOF） robotic manipulator is proposed.The effect of the time delay in control on the stability of the motor control system is considered.The time delayed differential equations are converted into differential equations without delay by using the lowpass filter-based continuous-time approximation （LPCTA）.The optimal control method is adopted to design the controller.Experimental results show that the proposed kinematics algorithm is accurate with less computational cost,and is suitable for real-time control application of 5-DOF manipulator.The time delayed control system of 5-DOF manipulator can accurately track the desired trajectory.