摘要
分别采用笛卡尔空间解耦控制法和参考力前馈补偿力控制法对3R机械臂进行了位置控制和力控制的混合控制。首先使用拉格朗日方程推导了3R机械臂关节空间动力学方程,进而利用雅克比矩阵推导了其笛卡尔空间规范化动力学方程,然后基于此模型在MATLAB/Simulink中建立了Sim Mechanics可视化仿真系统,接着采用笛卡尔空间解耦控制法对机械臂进行位置控制。为了减小干扰力对机械臂末端力控制精度的影响,利用一种基于参考力前馈补偿的机械臂力控制算法对其进行力控制。最后通过仿真结果验证了该机械臂力位混合控制算法具有响应速度快、超调量小、稳态精度高等优点,实现预期目标。
The 3R hybrid mechanical arm control problems were studied, using Cartesian space decoupling control method and force feedforward compensation force control method, carrying out a hybrid control of position and force control. First use the Lagrange equation to deduce joint space dynamics equation of 3R manipulator and use the Jacobian matrix to obtain Cartesian space normalized kinetic equation, then establish this model in SimMechanics simulation system based on MATLAB/Simulink, next use the Cartesian space decoupling control method to control the position of the manipulator, in order to reduce the influence of manipulator end force control accuracy, using a manipulator control algorithm based on the reference force feedforward compensation. Finally, use the simulation results to show that the mechanical arm position control algorithm has fast response, small overshoot, high steady-state accuracy, and achieve the desired objectives.
作者
仇鹏
方鹏
Chou Peng;Fang Peng(School of Mechanical Engineering,University of Shanghai for Science ＆ Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2018年第6期35-38,43,共5页
Agricultural Equipment & Vehicle Engineering
