工业机器人自适应逆模控制

Adaptive Inverse Model Control of Industrial Robots

本文提出一种关节型机器人的自适应逆模控制结构,采用机器人关节的等效线性系统的逆系统模型和满足可实现性条件的滤波器来构造相应的控制器,并由自适应机构在线建立和修改逆模的参数,使机器人的实际运行轨迹渐近地再现希望轨迹。仿真实验结果表明:采用本方案构造的控制系统响应速度快,跟随精度高、抗干扰能力强。此外,系统结构简单,易于实现。

A new control structure for industrial robots which combines the theory of inverse system theory and adaptive control techniques is proposed in this paper. The joints of a robot are considered as independent subsystems with disturbances that represent the coupling effects between joints first, then the controller for each joint is constructed by the combination of an adjustable inverse model which is related to the ioint and determined on-line by an identification mechanism, and a filter that makes the whole controller realizable in practice. Simulation results show that the proposed scheme is capable of rapid tracking to the desired trajectories with high precision and robust to disturbances. Besides, the structure of the result controller is simple which makes its implementation possible.