基于智能优化算法的欠驱动机械臂位姿控制

Position-posture Control of Underactuated Manipulator Based on Intelligent Optimization Algorithm

针对中间关节为欠驱动的平面机械臂系统,提出一种基于轨迹规划和跟踪控制的位姿控制策略,实现了系统位姿控制目标。根据系统控制目标,针对驱动连杆设计了一条连续的运动轨迹。其中,为了实现驱动连杆的控制目标,根据驱动连杆的初始和目标角度设计第一部分的运动轨迹;为了同时实现欠驱动连杆的控制目标,设计第二部分带有可调参数的轨迹。同时,通过差分进化算法对轨迹参数进行优化。并设计滑模变结构控制器使驱动连杆跟踪设计的运动轨迹达到目标状态。最后,仿真结果验证了该策略的有效性。

A control strategy based on trajectory planning and tracking control is proposed to realize the position-posture control objectives of a planar manipulator system with a passive middle joint. According to the control objectives of the system, a continuous motion trajectory is designed for the active links. In order to achieve the control objectives of the active links, the first part of the trajectories are designed according to the initial and target angles of the active links. In order to achieve the control objectives of the underactuated link at the same time, the second part of the trajectories with the adjustable parameters are designed. Meanwhile, the parameters of the trajectories are optimized by the differential evolution algorithm. Next, the sliding mode controllers with variable structure are designed to make all the active links track the designed trajectories to reach their target states. Finally, the effectiveness of such strategy is demonstrated through simulation results.