LPs控制算法在SCARA机器人控制中的应用研究

Study on a LPs control algorithms in SCAR robot

在传统鲁棒控制方法中,设计控制法则时候需要不确定边界,而往往提出的边界通常会增加控制信号的幅值并且对系统造成伤害。针对此问题提出了一种勒让德多项式(LPS,Legendre polynomials)控制法则,每个关节的集总不确定性被估计,而不确定边界通过勒让德多项式进行计算。与传统鲁棒控制器相比,所提出的控制器简单、计算量小并且需要的反馈少,消除了必须预先知道外部干扰和参数不确定性上限的条件,通过一个SCARA机器人机械手对本文提出的控制法则进行仿真,仿真结果验证了所提控制方法的有效性。

In the traditional robust control method,the uncertain boundary is needed in the design of the control law,however,the boundary usually increases the amplitude of the control signal and causes damage to the system.Therefore,this paper porposes a kind of LPs(Legendre polynomials)control law.The total uncertainty of each joint of SCAR Robots is estimated,accordingly,the uncertain boundary is calculated by LPs.Compared with the traditional robust controller,the proposed controller is simpler,requires less computation and less feedback,and eliminates the condition that the upper limit of external interference and parameter uncertainty must be known in advance.The control law proposed is simulated by a SCARA robot manipulator,and the simulation results verify the effectiveness of the proposed control method.