电驱动机器人手臂可控性分析

AN ANALYSIS OF THE CONTROLLABILITY OF AN ELECTRICALLY DRIVEN ROBOT ARM

本文以一种由直流电动机驱动的单个关节的机械手臂为基础。建立其控制系统的无量纲化数学模型,然后再对线性化后的系统。以及因电源电压的限制和系统本身的非线性因素等构成的非线性系统的可控性进行了分析。结果表明,当此系统作为线性系统处理时是完全可控的。但是,当考虑电源电压的限制及系统的非线性因素时,则该系统在一定的参数条件下,在状态空间的某些范围内不能用一般状态反馈控制实现完全的可控性。然而,采用适当控制策略的以计算机为基础的非线性控制器(智能控制器)则可解决其完全可控性的问题。

This paper,based on an electrically driven robot manipulator,has formulated a dimensionlessmathematical model of its control system.Next it analyzes the controllability of both the linearized sys-tem and the real nonlinear system due to many nonlinear factors of the system itself and due to the limita-tion of the source voltage.All results show that when the system is considered as linear,it is completelycontrollable.But under certain conditions we connot by using ordinary state feedback control realizc itscomplete controllability which however may be attained by utilizing intelliegent controllcr,i.e.,acomputer-based nonlinear controller with appropriate control strategy.