| 一种新的双连杆柔性臂机器人混合控制策略 |
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| 引用本文： | 戴学丰,孙立宁,蔡鹤皋.一种新的双连杆柔性臂机器人混合控制策略[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 戴学丰 孙立宁 蔡鹤皋 |
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| 作者单位： | [1]哈尔滨工业大学机器人研究所 [2]哈尔滨工业大学机器人研究所 黑龙江哈尔滨 [3]黑龙江哈尔滨 |
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| 基金项目： | 高等学校博士点科研专项基金资助项目 (2 0 0 0 0 2 132 3)，高等学校骨干教师资助计划资助项目 (10 4 3) |
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| 摘 要： | 以宏微双重驱动的双连杆柔性臂机器人为对象 ,提出了一种新的关节角控制律设计方法 ,即基于刚性模态设计实现关节位置控制的滑模算法 ,再根据关节角误差信号建立模糊推理表确定对滑模控制律的二次修正量 ,用修正后的控制律去控制柔性臂的摆角 ;通过将控制律在完整的系统模型上进行计算机仿真表明 ,算法可以很好地实现关节角位置控制和抑制残余振动 .
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| 关 键 词： | 柔性臂机器人 滑模控制 模糊控制 振动控制 |
A novel composed control scheme for positioning of two-link flexible manipulators |
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| Dai Xuefeng Sun Lining Cai Hegao Prof., Robotics Institute,Harbin Institute of Technology,Harbin ,China..A novel composed control scheme for positioning of two-link flexible manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Dai Xuefeng Sun Lining Cai Hegao Prof Robotics Institute Harbin Institute of Technology Harbin China |
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| Institution: | Dai Xuefeng Sun Lining Cai Hegao Prof., Robotics Institute,Harbin Institute of Technology,Harbin 150001,China. |
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| Abstract: | A two-link flexible manipulator with macro/micro drivers is dealt with in this paper. A novel joint control scheme is proposed. In details, a prototype of control law is designed by sliding mode algorithm based on rigid mode, and afterwards it was modified by a fuzzy reasoning rule table established on joint errors. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable to a fairly high precision. |
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| Keywords: | flexible link manipulators sliding mode control fuzzy control vibration control |
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