基于加速度反馈的2-DOF并联机器人控制算法研究

发布时间：2018-06-15 00:55

本文选题：2-DOF并联机器人 + 机器人动力学　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：随着社会生产的发展,机器人产业空前繁荣,但是当前的少自由度并联机器人远不能满足人们对智能化生产的需求,为此本论文针对一种2-DOF平面并联机器人开展相关研究。建立了2-DOF平面并联机器人末端动平台与主动关节的转角之间的位置关系;采用拉格朗日函数建立平面五杆并联机构动力学模型,验证了平面五杆并联机构与2-DOF平面并联机器人的等价性。以单轴系统为研究对象,系统阐述了加速度反馈控制的基本原理;从系统惯量与鲁棒性的角度分析,说明系统采用加速度反馈控制可以有效增加系统抵抗外界干扰和负载变化的能力;从系统稳定性角度说明系统加入加速度反馈控制可以有效改善其应对非线性摩擦时的系统特性;从系统的幅频特性角度分析阐明了系统在加入加速度反馈以后,能够使系统的固有频率增加,从而提高其抑制机械谐振的能力。将加速度反馈控制应用到2-DOF平面并联机器人当中,分别求解PD控制、增广PD控制及加速度反馈控制的控制律,通过对比证明了加速度反馈控制在系统负载变化时的性能优越性,最后通过ADAMS与MATLAB联合仿真,证明了加速度反馈控制是有效的。为了消除加速度反馈给系统造成的的不确定性影响,在加速度反馈控制的基础上,引入滑模变结构控制,进一步提高系统的鲁棒性,同时提高系统的响应速度。研究对于该机器人的推广应用具有理论指导意义。
[Abstract]:With the development of social production, the robot industry is booming, but the current small degree of freedom parallel robot can not meet the needs of intelligent production. Therefore, this paper focuses on a 2-DOF planar parallel robot. The position relationship between the end moving platform of 2-DOF planar parallel robot and the rotation angle of active joint is established, and the dynamic model of planar five-bar parallel mechanism is established by Lagrange function. The equivalence of planar five-bar parallel mechanism and 2-DOF planar parallel manipulator is verified. Taking the uniaxial system as the research object, the basic principle of acceleration feedback control is expounded, and the inertia and robustness of the system are analyzed. It shows that the acceleration feedback control can effectively increase the ability of the system to resist external interference and load change. From the point of view of system stability, it is shown that the system with acceleration feedback control can effectively improve the characteristics of the system when dealing with nonlinear friction, and from the angle of amplitude-frequency characteristic of the system, it is explained that the system with acceleration feedback can effectively improve the performance of the system. It can increase the natural frequency of the system and improve its ability to suppress mechanical resonance. The acceleration feedback control is applied to 2-DOF planar parallel robot, and the PD control, the augmented PD control and the acceleration feedback control are solved respectively. Finally, the acceleration feedback control is proved to be effective by Adams and MATLAB simulation. In order to eliminate the uncertain effect of acceleration feedback on the system, sliding mode variable structure control is introduced on the basis of acceleration feedback control, which further improves the robustness of the system and the response speed of the system. The research is of theoretical significance for the popularization and application of the robot.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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