环境数据采集机械手臂设计与控制研究

Design and Control of Environmental Data Acquisition Manipulator

环境数据采集机械手臂在姿态定位时受到关节部位阻尼的作用,导致全局稳态性不好,提出一种基于自适应阻尼误差反馈调节的机械手臂优化控制设计方法,构造环境数据采集机械手臂的动力学模型,以旋转角、阻尼力和抓取目标距离等参量为控制约束参量,建立机械手臂的被控对象模型,结合仿生控制方法进行自适应阻尼误差修正,根据修正结构进行机械手臂的姿态惯性参量调节,实现姿态优化定位控制。仿真结果表明,采用该方法进行环境数据采集机械手臂控制的稳定性较好,定姿能力较强。

The environmental data acquisition robot arm is affected by joint damping in attitude positioning,which leads to poor stability overall.An optimal control design method for manipulator based on adaptive damping error feedback regulation is proposed to construct the dynamic model of environmental data acquisition manipulator for rotation angle.The parameters such as damping force and grasping target distance are used as control constraint parameters to establish the controlled object model of the manipulator and to modify the adaptive damping error with the bionic control method.According to the modified structure,the attitude inertia parameters of the robot arm are adjusted to realize the attitude optimal positioning control.The simulation results show that the stability of the robot arm control based on this method is good and ability of attitude determination is strong.