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针对柔性关节机器人(FJR)的位置控制问题,设计了一种带摩擦力补偿的幅值饱和非线性状态反馈控制器(ASNSFC).该方法能够只用电机的位置和速度信息,实现FJR的位置控制,并且该方法能够有效抑制残余抖动.具体而言,首先根据FJR的动力学模型分析了传统PD(比例-微分)控制算法的不足;在此基础上结合人机共融安全方面的需求,设计ASNSFC并通过李亚普诺夫分析方法从理论上证明了闭环系统的稳定性.在自主研制的FJR平台上测试了本文方法的性能,实验结果表明本文方法能够取得更好的控制性能,包括将超调降低到1/10,调节时间降低一半.
Aiming at the position control problem of flexible joint robot (FJR), an amplitude-and-neutral nonlinear state feedback controller (ASNSFC) with friction compensation is designed, which can realize the position of FJR by using the position and velocity information of the motor only Control, and the method can effectively restrain the residual jitter.Firstly, according to the dynamic model of FJR, the insufficiency of the traditional PD (Proportional-Differentiation) control algorithm is analyzed. Based on this, The ASNSFC is designed and the stability of the closed-loop system is theoretically proved by Lyapunov analysis.The performance of the proposed method is tested on a self-developed FJR platform.The experimental results show that this method can achieve better control performance, Adjust to reduce to 1/10, adjust the time by half.