双连杆刚柔机械臂无残余振动位置控制

Position control without residual vibration for a two-link rigid-flexible manipulator

针对双连杆刚柔机械臂,提出一种基于轨迹规划的无残余振动位置控制方法,在将机械臂的末端执行器从任意初始位置移动到目标位置的同时,确保系统没有残余振动产生.首先,建立系统的动力学模型,并通过分析该模型得到系统的状态约束方程.其次,基于状态约束方程,运用双向轨迹规划方法规划一条系统前向轨迹和一条系统反向轨迹.然后,利用时间倒转方法及基于遗传算法的轨迹优化方法对两条轨迹进行拼合,得到一条从系统初始状态到目标状态的期望轨迹.最后,设计轨迹跟踪控制器使系统沿期望轨迹到达目标状态,实现系统的无残余振动位置控制目标.仿真结果验证了本文所提方法的有效性.

This paper presents a position control method without residual vibration for a two-link rigid-flexible manipulator based on trajectory planning. This method can achieve that the end-effector of the manipulator has no residual vibration while rapidly reaching its target position. Firstly, the dynamic model of the system is built. By analyzing this dynamic model, the state constraint equations of the system are obtained. Next, based on these constraint equations, a forward trajectory and a reverse trajectory of the system are planned by using bidirectional trajectories planning method. Then,the time rewinding method and trajectory optimization method based on genetic algorithm are used to connect these two trajectories and obtain a desired trajectory from the initial state to the target state. Finally, a trajectory tracking controller is designed to make the system reach its target state along this desired trajectory. Thus, the position control objective without residual vibration is achieved. The simulation results demonstrate the effectiveness of the proposed method.