2-DOF旋转欠驱动机械臂统一控制策略

Unified Control Strategy of 2-DOF Rotary Underactuated Manipulator

针对不同类型2-DOF旋转欠驱动机械臂的统一控制问题,提出一种基于基函数叠加方式和智能优化算法的轨迹规划跟踪控制策略。使用坐标变换法和拉格朗日法建立2-DOF旋转欠驱动机械臂的通用模型,以摆线为基函数通过叠加构造系统驱动关节可行运动轨迹,采用智能优化算法对可行运动轨迹进行优化,设计跟踪控制器和镇定控制器分别实现对可行运动轨迹的跟踪控制以及系统在特殊位置下的振荡稳定,仅依赖2-DOF旋转欠驱动机械臂普遍具有的二阶非完整约束实现对该类系统的统一控制。最后通过仿真测试验证所述控制策略的有效性。

A trajectory planning and tracking control strategy based on basis function superposition and intelligent optimization algorithm is proposed for the unified control problem of different types of 2-DOF rotary underactuated manipulator.Using coordinate transformation method and Lagrangian method to establish a general model of a 2-DOF rotary underactuated manipulator.Construct feasible motion trajectories of active joints in the system using superposition method based on cycloids,and optimize the feasible motion trajectories using intelligent optimization algorithms.Design of tracking controller and calming controller to realize the tracking control of feasible motion trajectories and the oscillation stabilization of the system in special positions,respectively.Unified control of such systems is achieved by relying only on the second-order non-holonomic constraints prevalent in 2-DOF rotary underactuated manipulator.Finally,the effectiveness of the control strategy described was verified through simulation.