机器人
機器人
궤기인
ROBOT
2010年
2期
150-156,165
,共8页
兰天%刘伊威%陈养彬%金明河%姜力%樊绍巍%刘宏
蘭天%劉伊威%陳養彬%金明河%薑力%樊紹巍%劉宏
란천%류이위%진양빈%금명하%강력%번소외%류굉
机器人灵巧手%交叉耦合控制%同步控制%轨迹跟踪
機器人靈巧手%交扠耦閤控製%同步控製%軌跡跟蹤
궤기인령교수%교차우합공제%동보공제%궤적근종
dexterous robot hand%cross-coupled control%synchronized control%trajectory tracking
为了提高机器人灵巧手基关节的轨迹跟踪精度,提出了包含同步误差和位置误差反馈项及平滑鲁棒非线性反馈补偿项的交叉耦合同步控制策略,并建立了手指动力学模型.基于李亚普诺夫稳定性理论证明了所提出的控制策略能够使同步误差和位置误差均收敛到0,并且保证了系统的渐近稳定性.与传统非同步控制的PD加摩擦力补偿算法和轨迹跟踪控制算法进行比较,实验结果验证了所提出控制策略的有效性.
為瞭提高機器人靈巧手基關節的軌跡跟蹤精度,提齣瞭包含同步誤差和位置誤差反饋項及平滑魯棒非線性反饋補償項的交扠耦閤同步控製策略,併建立瞭手指動力學模型.基于李亞普諾伕穩定性理論證明瞭所提齣的控製策略能夠使同步誤差和位置誤差均收斂到0,併且保證瞭繫統的漸近穩定性.與傳統非同步控製的PD加摩抆力補償算法和軌跡跟蹤控製算法進行比較,實驗結果驗證瞭所提齣控製策略的有效性.
위료제고궤기인령교수기관절적궤적근종정도,제출료포함동보오차화위치오차반궤항급평활로봉비선성반궤보상항적교차우합동보공제책략,병건립료수지동역학모형.기우리아보낙부은정성이론증명료소제출적공제책략능구사동보오차화위치오차균수렴도0,병차보증료계통적점근은정성.여전통비동보공제적PD가마찰력보상산법화궤적근종공제산법진행비교,실험결과험증료소제출공제책략적유효성.
A synchronized cross-coupled control approach is presented to improve trajectory tracking accuracy for base joint of dexterous robot hand, including feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator.The dynamics model of the robot is also established.According to Lyapunov stability analysis, it is proved that the proposed method can guarantee both synchronization and position errors converge to zero and the system is asymptotically stable.The proposed control strategy is compared with conventional non-synchronized PD friction compensation and trajectory tracking control, and experimental results demonstrate its validity.
