机械臂系统在任务空间的脉冲跟踪控制

Impulsive Tracking Control of Robotic Manipulator in Task Space

基于拉格朗日方程,在任务空间中研究机械臂系统的脉冲跟踪控制。在任务空间中,给定一个期望的时变轨道,设计脉冲控制器使得机械臂末端执行器能够跟踪到期望的轨道,并且将跟踪误差控制在期望的范围内。通过脉冲控制,机械臂只需在一些离散的时刻接收期望轨道的信息,这可以在很大程度上减少信息传输的负担。最后以任务空间中双连杆机械臂的跟踪控制为例,验证设计的控制策略是可行且有效的。

Based on Lagrangian equation,impulsive tracking control of robotic manipulator in task space was developed in this paper.In task space,given a desired time-varying trajectory,the robot end-effector can track the desired target under the designed impulsive controller.Besides,the desired tracking error bound can be obtained.By impulsive control,robotic manipulator can receive the information of the desired trajectory at some discrete moments,which implies that the amount of information needed to be transferred was greatly reduced.The obtained results were finally applied to a typical system of double link robotic manipulator,which demonstrates the effectiveness and feasibility of the proposed control strategy.