高速运动机器人动力学及控制策略研究

Research on dynamic and control strategy of high speed robot

机器人高速运动时关节柔性会对关节轨迹造成较大影响,必须对其造成的振动加以研究和控制。文章通过简化机器人的柔性关节,从动力学角度对机器人高速工作过程进行仿真,分析关节柔性及其大小对关节轨迹的影响;采用奇异摄动复合控制策略,将高速机器人系统分为快、慢2个独立子系统,分别为其设计控制器,加和后作为整个系统的控制输入。控制系统仿真结果表明,该控制策略能够实现轨迹的精确跟踪和振动的有效抑制。

The joint flexibility will have a great influence on the trajectory of the robot when it is moving at high speed, so the vibration caused by flexibility must be studied and controlled. A simplified dynamic simulation model of the flexible joint of the robot was established. By analyzing the dynamic simulation results, the effect of joint flexibility on robot trajectory was concluded. Based on the complex control strategy of singular perturbation, high speed robot was divided into two independent subsystems, namely the slow subsystem and the fast subsystem, and the controllers were designed for the independent subsystems, the sum of which was taken as the control input of the whole system. The simulation results showed that the control strategy can realize the accurate trajectory tracking and the effective suppression of the vibration.