双柔性臂机器人的建模和主动振动控制

Dynamic Modeling and Active Vibration Control of Two Cooperating Flexible Robotic Manipulator

针对双柔性臂机器人在操作过程中出现的结构振动和残余振动影响控制精度的问题,提出了采用多组压电换能器对柔性臂进行主动振动的控制方法。设计了基于超声电机驱动的双柔性臂机器人,采用拉格朗日法和假设模态法对双柔性臂进行了动力学建模,并考虑了在协作搬运过程中双柔性臂机器人需要满足的闭链约束条件。提出了采用独立关节PD反馈控制器和正位置反馈控制器相结合的混合控制方法。Matlab仿真表明,所提出的混合控制器能使柔性机器人在准确完成目标物体轨迹运动的同时,实现对柔性臂的振动抑制,提高了双柔性臂机器人的搬运精度和效率。

According to the fact that the two cooperating flexible manipulators are usually suffered unwanted vibration during the operation of high speed and acceleration,This paper uses the multiple lead piezoelectric transducers （PZr） based sensors and actuators mounted on the flexible structure to suppress the structural and residual vibration.The robot with two cooperating rigid-flexible robotic manipulator actuated by ultrasonic motors is designed.Based on the Lagrange principle and the assumed modes method,the dynamic model of the two cooperating robotic manipulators are established in consideration of the closed-chain constraint conditions.Independent joint PD feedback controller combined with positive position feedback controller （PPF） is developed for the system.Matlab simulation results show that the proposed composite controller can be used to achieve the desired trajectory precisely and suppress the unwanted vibration,so that the efficiency and the precision of the manipulator is further improved.