[1]张亚婉,陆兴华,吴宏裕.基于参数融合机器人旋转关节轴鲁棒性控制律[J].计算机技术与发展,2019,29(11):102-106.[doi:10. 3969 / j. issn. 1673-629X. 2019. 11. 021]
　ZHANG Ya-wan,LU Xing-hua,WU Hong-yu.Robust Control Law for Rotating Joint Axis of Robot Based on Parameter Fusion[J].,2019,29(11):102-106.[doi:10. 3969 / j. issn. 1673-629X. 2019. 11. 021]
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基于参数融合机器人旋转关节轴鲁棒性控制律()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
29
期数:
2019年11期
页码:
102-106
栏目:
智能、算法、系统工程
出版日期:
2019-11-10

文章信息/Info

Title:
Robust Control Law for Rotating Joint Axis of Robot Based on Parameter Fusion
文章编号:
1673-629X(2019)11-0102-05
作者:
张亚婉; 陆兴华; 吴宏裕
广东工业大学华立学院,广东 广州 511325
Author(s):
ZHANG Ya-wan; LU Xing-hua; WU Hong-yu
Huali College Guangdong University of Technology,Guangzhou 511325,China
关键词:
运动参数融合; 机器人; 旋转关节轴; 鲁棒控制
Keywords:
motion parameter fusion; robot; rotation joint axis; robust control
分类号:
TP273
DOI:
10. 3969 / j. issn. 1673-629X. 2019. 11. 021
摘要:
机器人旋转关节受到小扰动作用,导致控制鲁棒性不好。 为了提高机器人旋转关节轴抗扰动鲁棒控制能力,提出一种基于运动参数融合的机器人旋转关节轴鲁棒性控制律。 构建机器人旋转关节轴的动力学模型,根据阻尼力矩与末端位姿协同控制的关联关系,得到位姿修正的反馈最小信息熵。 采用姿态传感器进行机器人旋转关节轴的运动姿态参数采集,对采集的姿态参数采用 Kalman 滤波算法进行误差补偿和信息融合处理,采用滑膜积分控制方法进行机器人旋转关节轴运动的稳态控制,构建机器人旋转关节轴运动姿态稳定控制的数学模型和动力学模型。 采用非交换微分调控方程,得到机器人旋转关节轴鲁棒性控制的边值周期解向量,根据运动参数的融合结果采用模糊控制方法进行机器人旋转关节轴控制律设计。 仿真结果表明,采用该方法进行机器人旋转关节轴控制的鲁棒性较好,抗扰动能力较强。
Abstract:
The rotation joint of the robot is subjected to small disturbance,which leads to poor control robustness. In order to improve the anti-disturbance robust control ability of robot rotation joint axis,a robust control law based on motion parameter fusion is proposed. The dynamic model of robot rotation joint axis is constructed. According to the relationship between damping torque and terminal position and attitude control,the feedback minimum information entropy of position and attitude correction is obtained. The attitude sensor is used to collect the kinematic attitude parameters of the robot rotation joint axis,and the Kalman filter algorithm is used to compensate the errors and process the information fusion. The synovial integral control method is used to control the motion of the robot rotation joint axis. The mathematical model and dynamic model of the robot rotation joint axis motion stability control are constructed,and the non-exchange differential control equation is adopted.The boundary value periodic solution vector of rotative joint axis robust control of robot is obtained. According to the fusion result of motion parameters, fuzzy control method is used to design the control law of robot rotation joint axis. The simulation shows that the proposed method has excellent robustness and anti-disturbance ability.

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更新日期/Last Update: 2019-11-10