基于干扰观测器的平面2RR并联机器人高速运动的滑模控制

Sliding mode control of high-speed motion of planar 2RR parallel robot based on disturbance observer

为了实现平面工作空间的目标物自动化快速分拣操作,基于平面五连杆机构,设计平面2RR并联机器人系统进行分拣操作.首先,根据系统的自由度和主动关节的设置,确定系统的广义坐标,利用第二类拉格朗日方程和闭链几何约束关系,建立系统的动力学方程.针对分拣操作的高速运动控制要求,并考虑系统动力学方程的非线性、强耦合和不确定干扰等因素,设计了基于干扰观测器的滑模控制方法.最后,通过李雅普诺夫稳定性证明了所设计的控制方法的稳定性,并通过数值仿真验证了该控制方法有较好的控制效果.

In order to realize the automatic and fast sorting operation in the plane workspace, a plane 2 RR parallel robot was designed based on the plane five-link mechanism. Firstly, the generalized coordinates of the system were established based on the degree of freedom and the active joints of the system. The dynamic equation of the system was derived using the second Lagrange equation and closed chain geometric constrains of the system. Considering the high-speed motion control requirements of the sorting operation as well as the factors such as nonlinearity, strong coupling and uncertain disturbance of the system dynamic equation, a sliding mode control law was designed based on a disturbance observer. Finally, the stability of the designed control law was proved by Lyapunov stability theory, and the numerical simulation showed satisfactory control performance.