摘要
针对6-DOF并联机器人系统存在动力学建模误差和外界不确定性因素干扰的问题,提出了一种基于动力学补偿的并联机器人鲁棒轨迹跟踪控制策略。在充分研究了机器人系统动力学模型特点的基础上,基于Lyapunov方法获得了并联机器人的鲁棒控制率,提出了一种鲁棒轨迹跟踪控制方法,采用逆动力学对内回路进行补偿,外回路采用PD控制,然后对并联机器人进行了鲁棒控制器的设计,最后通过MATLAB进行了系统的轨迹跟踪控制仿真分析。仿真结果表明:当系统存在外界周期干扰的状况时,系统轨迹跟踪误差仍然一致终值有界,在一定程度上提高了系统的鲁棒稳定性。
The problem of dynamics model error and uncertainty outside interference of 6-DOF parallel robot,a robust trajectory tracking control strategy of parallel robot based on dynamics compensate was proposed. The robust control law of parallel robot via Lyapunov method based on the full study of dynamic model was got,a robust trajectory tracking control method was designed and the inner loop was compensated by inverse dynamics and the outer loop was controlled by PD,the robust controller of parallel robot was designed,the trajectory tracking control of the system was simulated via MATLAB. Simulation results prove that the trajectory tracking error uniformly and ultimately bounded in case of periodic interferential signal,and improve the robust stability of closed-loop system to a certain extent.
出处
《机床与液压》
北大核心
2015年第21期78-82,共5页
Machine Tool & Hydraulics
