串联机械臂的仿PD关节位置跟踪控制

The Position Tracking Control of Industry Series Robotic Arm with PD-Like Control Method

针对两连杆串联机械臂,设计一种仿PD关节位置跟踪控制系统,实现了机械臂两关节角位移的定点控制。在传统PD控制器的基础上引入S型曲线函数,在忽略重力和摩擦力作用的情况下,提高了关节角位移的收敛速度,而且传统PD控制中需要的较大初始力矩有了一定程度的降低。依据李雅普诺夫稳定性理论说明了所设计系统的渐进稳定性,并通过仿真验证了所提出方法的有效性。

In this paper,a kind of PD-like joint position tracking control system is designed for the twolink series manipulator,which realizes the fixed point control of the joint angular displacement of the manipulator.Conventional PD control requires a large initial moment and the joint angular displacement is slower to track.In this paper,ajoint PD-like controller is introduced to introduce a S-curve function on the basis of the traditional PD controller.In the case of neglecting gravity and friction,the joint angular displacement can converge rapidly and the joint initial moment has a certain degree reduction.And based on the Lyapunov stability theory,it is shown that the designed system is progressive and stable.Finally,the effectiveness of the proposed method is verified by simulation.