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针对受外界动态约束的谐波传动式可重构模块机器人轨迹跟踪问题,提出一种基于关节力矩反馈的分散积分滑模控制方法.在无力/力矩传感器且存在耦合模型不确定性的条件下即能获得良好的控制品质.基于谐波传动模型,仅采用位置测量数据估计关节力矩,并建立机器人子系统动力学模型.基于可变增益超螺旋算法(VGSTA)设计分散积分滑模控制器,补偿模型不确定性并削弱控制器抖振.采用Lyapunov理论对系统的渐近稳定性进行了证明.数值仿真结果验证了所设计的控制器的优越性.
In order to solve the trajectory tracking problem of the harmonic drive reconfigurable module robot under external dynamic constraints, a decentralized integral sliding mode control method based on the joint torque feedback is proposed. Under the condition of force / torque sensor uncertainty and coupled model uncertainty Based on the harmonic drive model, only the position measurement data is used to estimate the joint torque, and the dynamics model of the robot subsystem is established.The decentralized integral sliding mode controller is designed based on variable gain supercoil algorithm (VGSTA) Model uncertainty and controller chattering are reduced.Asymptotic stability of the system is proved by Lyapunov theory.Numerical simulation results verify the superiority of the proposed controller.