移动式救援机器人机械手臂的自适应控制问题

Adaptive control of mobile rescue robot manipulator arm

分析了移动式救援机器人系统参数存在误差时,其机械臂工作端轨迹的跟踪控制问题。首先基于雅可比矩阵概念与欧拉-拉格朗日方法,建立了移动式救援机器人系统的运动学与动力学模型。然后,分析了系统的运动学与动力学模型存在误差时,对于逆动力学控制算法的影响,为了克服这种影响,引入了参数在线识别算法-自适应控制,设计了新的自适应-逆动力学控制算法。最后,通过计算机数值仿真,验证了设计的自适应-逆动力学控制算法的有效性。

This paper analyzed the tracking control problems of manipulator arm end-effector trajectory when the system parameters of mobile rescue robot existed errors. Firstly, the kinematic and dynamic models of mobile rescue robot were established based on the Jacobian concept and Euler-Lagrange equation. Then, the effect of the kinematic and dynamic model errors on the inverse dynamics control was analyzed. Then, in order to overcome the effect, the parameters online recognition algorithm, adaptive control, was introduced. The new Adaptive-Inverse Dynamics Control was designed. finally, the effectiveness of adaptive-inverse dynamics control algorithm was verified through the computer numerical simulation.