机械臂轨迹的阻抗滑膜控制

Impedance Slip Control of the Arm Trajectory

针对机械臂在接触操作物时进行移动时位置会产生偏差,导致两者之间会有作用力,该作用力将会对操作的物体产生破坏。所以先对机械臂采用滑膜控制,去控制机械臂更好的跟随路径。但是由于滑膜控制会产生抖振,所以改变滑膜控制的切换函数,减弱控制系统的抖振。在此基础上考虑机械臂末端位置的偏差,将阻抗控制和改进后的滑膜控制结合,减少滑膜控制中的抖振,控制机械臂末端力的接触力在合适范围之内,同时要让机械臂能够很好的跟踪预定曲线。仿真结果表明,双曲正切为切换函数的滑膜控制,能更好的降低控制器的抖振,而且将改进的滑膜控制和阻抗控制可以更好的控制机械臂末端的压力,同时机械臂末端也能将好的跟踪设定曲线。

There is a deviation in the position of the arm when it is moved in contact with the operator,resulting in a force between the two,which will cause damage to the operating object. Therefore,the mechanical arm is firstly controlled by the sliding membrane to control the mechanical arm to follow the path better. However,since the slip film control generates chattering,the switching function of the sliding mode control is changed to weaken the chattering of the control system. On this basis,considering the deviation of the end position of the arm,the impedance control and the improved sliding mode control are combined to reduce the chattering in the synovial control. The contact force for controlling the end force of the arm is within a suitable range. At the same time,the robot arm is able to track the predetermined curve very well. The simulation results show that the hyperbolic tangent is the sliding mode control of the switching function,which can better reduce the chattering of the controller. The improved sliding mode control and impedance control can better control the pressure of the end of the arm,while the arm of the end can set a good tracking curve.