关于机器人的机械臂位置复合控制研究

Research on Position Optimal Control of Robot Arm

研究机械臂的位置控制问题。机械臂的位置控制对末端执行器精确到达给定位置至关重要,而多自由度机械臂的各个关节之间存在着高度的耦合和非线性关系,并且在实际问题中存在建模误差和摩擦干扰。为了解决由建模误差和摩擦干扰带来的运动控制精度下降和鲁棒性不足的问题,提出一种PID滑模复合控制策略,并采用饱和函数趋近律的方法来抑制滑模控制器带来的抖动。仿真结果表明:相对于传统的PID控制,采用PID滑模复合控制策略能够保证机械臂系统对期望轨迹的快速跟踪,提高运动控制的精度,使系统具有良好的稳定性和鲁棒性。

The position control is crucial for the end actuator of robot ann to arrive given position accurately. There is a high degree of coupling and non-linearity relation between the joints of robot arm, also it has the modeling error and the friction disturbance in the practical problems. The modeling error and friction disturbance can cause the decrease of the control precision and robustness of the motion control. In order to solve that, a complex control strategy based on PID and sliding mode control was proposed for the motion control of a multi DOF robot arm, and a novel reaching taw was proposed to resolve the problem of chattering effectively in sliding mode. The simulation results show that the complex control strategy based on PID and sliding mode can ensure the fast track of the expected trajectory of the manipulator system, improve the motion accuracy effectively, and make the system have better robustness than the PID control strategy.