论文部分内容阅读
本文研究了机械手在作业坐标空间上描述的目标轨迹的鲁棒性模型(Robust Model)跟踪控制系统的构成方法。作为机械手在作业坐标空间上的轨迹跟踪控制系统的最基本、最重要的方法,就是Luh等的加速度分解控制(非线性补偿)方式。然而,用这样的方法,在作为对象的机械手的动态特性发生变化时,很难获得满意的控制性能。大家知道,可以适应动态特性变化的控制方式有利用人工位势法的方法,利用滑动模式控制的方法等。可是,前者是适于“点位控制”的方法,而不是适于轨迹跟踪控制的方法。而后者由于产生的输入为不连续的,所以存在可能引起机械振动或对奇异点考虑不充分等问题。因此,本文考虑将笔者以前提出的连续输入的鲁棒性模型跟踪控制系统的构成方法,应用于机械手在作业坐标空间上的轨迹控制上。如果利用本方法,就可以任意减小在作业坐标空间上定义的规范性模型与机械手前端部之间的状态误差。
In this paper, we study the method of constructing Robust Model tracking control system of the target locus described by the manipulator in the workspace coordinate space. As the basic and most important method of trajectory tracking control system of manipulator in job coordinate space, it is Luh et al.’s acceleration resolution control (nonlinear compensation) method. However, in such a method, it is difficult to obtain satisfactory control performance when the dynamic characteristics of the target manipulator are changed. We all know that the control methods that can adapt to the change of the dynamic characteristics include the method of using the artificial position method and the method of using the sliding mode control. However, the former is a suitable method for “point control” rather than a method suitable for trajectory tracking control. In the latter case, since the input generated is discontinuous, there is a problem that mechanical vibration may be caused or the singularity may not be considered adequately. Therefore, this paper considers the composition method of the continuous input robust model tracking control system proposed by the author in the past, which is applied to the locus control of manipulator in the workspace coordinate space. If this method is used, it is possible to arbitrarily reduce the state error between the normative model defined on the job coordinate space and the tip of the manipulator.