采用积分流形与观测器的并联机器人轨迹控制

发布时间：2018-03-29 03:04

本文选题：并联机器人　切入点：积分流形　出处：《哈尔滨工业大学学报》2017年01期

【摘要】：针对含柔性杆件并联机器人在高速运行时其末端存在弹性位移问题,以3RRR并联机器人为研究对象,提出一种基于积分流形与高增益观测器的柔性并联机器人轨迹跟踪复合控制算法.基于刚度矩阵引入小参数,将刚柔耦合动力学模型转为慢速与快速两个子系统.针对慢速子系统,采用反演控制,实现对末端刚体运动的跟踪控制,同时为避免杆件弹性变形与振动组成的弹性位移对机器人末端轨迹的影响,推导校正力矩,实现对弹性位移的补偿.针对快速子系统,采用滑模变结构控制,保证流形成立.为避免对曲率变化率的直接测量,引入高增益观测器对其进行估计.采用Lyapunov稳定性原理证明系统整体稳定性,并给出小参数上界.对提出的复合控制算法与奇异摄动及基于刚体动力学的反演控制算法进行仿真,从机器人末端振动抑制与轨迹跟踪性能两方面进行对比,验证了本文所提算法的控制效果.
[Abstract]:Aiming at the problem of elastic displacement at the end of a parallel robot with flexible rods at high speed, the 3RRR parallel robot is taken as the research object. A hybrid trajectory tracking control algorithm for flexible parallel manipulators based on integral manifold and high gain observer is proposed. Small parameters are introduced based on stiffness matrix. The rigid-flexible coupling dynamic model is transformed into two subsystems: slow and fast. For the slow subsystem, inverse control is used to track and control the motion of the rigid body at the end. In order to avoid the effect of elastic displacement on the trajectory of the robot end caused by elastic deformation and vibration of the bar, the correction torque is derived to compensate the elastic displacement. The sliding mode variable structure control is used for the fast subsystem. In order to avoid the direct measurement of curvature change rate, a high gain observer is introduced to estimate the flow. The Lyapunov stability principle is used to prove the global stability of the system. Finally, the upper bound of small parameters is given. The simulation of the hybrid control algorithm, the singular perturbation algorithm and the inverse control algorithm based on rigid body dynamics is carried out, and the performance of vibration suppression and trajectory tracking at the end of the robot is compared. The control effect of the proposed algorithm is verified.
【作者单位】：哈尔滨工业大学机电工程学院;
【基金】：国家自然科学基金(51075086)
【分类号】：TP242

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