| 引用本文: | 于树友,孟凌宇,许芳,曲婷,陈虹.基于三步法的机械臂轨迹跟踪控制[J].控制理论与应用,2020,37(5):1034~1044.[点击复制] |
| Yu shu-you,MENG Ling-yu,XU Fang,QU Ting,CHEN Hong.Trajectory tracking control of manipulators with triple-step method[J].Control Theory and Technology,2020,37(5):1034~1044.[点击复制] |
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| 基于三步法的机械臂轨迹跟踪控制 |
| Trajectory tracking control of manipulators with triple-step method |
| 摘要点击 2669 全文点击 840 投稿时间：2019-01-30 修订日期：2019-11-11 |
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| DOI编号 10.7641/CTA.2019.90070 |
| 2020,37(5):1034-1044 |
| 中文关键词 机械臂 轨迹跟踪 三步法 渐近跟踪 |
| 英文关键词 manipulators trajectory tracking triple-step method asymptotic tracking |
| 基金项目 国家自然科学基金项目(61573165, 6171101085, 61703178, 61703176)资助. |
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| 中文摘要 |
| 考虑机械臂末端轨迹跟踪控制问题, 以跟踪逆运动学求解出的末端期望轨迹对应的各关节期望角度为控
制目标. 设计了一种基于三步法的控制器, 该控制器由类稳态控制、可变参考前馈控制和误差反馈控制3部分组成.
证明了该控制器可以通过控制机械臂的各关节力矩实现各关节实际角度对期望角度的状态跟踪, 进而使得末端轨
迹渐近跟踪期望轨迹, 并且跟踪误差是输入到状态稳定的. 仿真表明基于三步法控制器的空间机械臂末端可以渐
近跟踪期望轨迹, 并且该算法可以克服系统的末端负载质量变化等不确定性的影响. |
| 英文摘要 |
| Task trajectory tacking control of robot manipulators is considered in this paper. Firstly, task space trajectory
tacking problem is transformed into the expected angular tracking problem accordingly in terms of inverse kinematics of
robot manipulators. Triple-step method is adopted as the control scheme which consists of a quasi-steady state control, a
variable reference feedforward control and an error feedback control. The actual angle of each joint can track asymptotically
the expected angle by regulation of the torque of each joint of the robot manipulators, thus the end trajectory can track
asymptotically the desired trajectory. Define the deviation between the actual angle and the expected angle of each joint as
the error. It is proved that the error system is input-to-state stable. Simulation results show that the end of robot manipulator
can track the desired trajectory with a high precision and the system under control is robust to the load changes at the end
of robot manipulators. |
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