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直接驱动机器人控制算法的试验研究和比较 总被引:2,自引:0,他引:2
本文针对直接驱动机器人轨线跟踪进行了控制方法实验比较研究,为了解决实时控制的运算量问题,首先建立了一个基于Transputer的机器人并行控制器,实现前馈补偿、计算力矩、滑动模以及知适应等几种典型的控制方案,据此给出一些比较结果。 相似文献
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基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究 总被引:1,自引:0,他引:1
对带有被动轮的蛇形机器人进行速度跟踪控制时,利用传统的动力学建模方法得到的动力学方程复杂且不利于控制器的设计. 本文基于微分几何的方法将带有被动轮的蛇形机器人动力学投影到速度分布空间中, 得到了动力学与控制统一模型, 更有利于速度跟踪控制器的设计. 考虑到蛇形机器人在进行速度跟踪时容易出现奇异位形, 提出增加头部扰动速度的方法. 基于头部扰动速度和统一模型, 提出避免奇异位形的速度跟踪控制方法, 最后通过逆向动力学得到控制力矩. 文中对速度跟踪控制进行了数值仿真和实验验证. 仿真和实验结果表明, 提出的速度跟踪控制方法能够跟踪想要方向的速度, 并且在跟踪过程中可以有效地避免奇异位形. 相似文献
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本文研究了存在扰动和参数不确定因素时机器人的轨迹跟踪控制问题.给出了一种鲁棒计算力矩控制方案,它由改进力矩发生器和鲁棒补偿器组成,该方案具有下述特点:①不依赖精确机器人模型;②容忍一定程度的计算误差。这给模型简化、减轻控制计算机运算负担、缩短运算时间提供了一条途径;③保证被控机器人具有渐近跟踪理想轨迹的能力.这些结论通过仿真实验已初步得到证实. 相似文献
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基于视觉的机械手轨线跟踪系统 总被引:4,自引:2,他引:2
本文从视觉与控制集成这一指导思想出发,建立了一个视觉引导的机器人轨线跟踪系统,用于玻璃加工时的图纸曲线的自动跟踪和坐标读取,实验结果显示出良好的跟踪性能。 相似文献
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Various advanced control strategies are applied to a direct-drive SCARA robot and studied in computer simulations. Besides computed torque control and direct adaptive control, heuristic optimal control, a new path control scheme for robotic manipulators, is included in the comparison study. PD control, the traditional robot control method, is used for generating a comparing baseline. While all schemes are applied for the same tracking task, the effect of modelling errors and measurement noise is considered in robot performance evaluation. Simulation results show that (1) without model errors, all advanced control schemes can achieve higher tracking accuracy than PD control; (2) with a random measurement error of 1%, computed torque and direct adaptive control methods are inferior to PD control; (3) heuristic control proves to be the most robust control scheme in case of mixed model and measurement errors. 相似文献
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针对光伏阵列清洁机器人清洁作业过程中存在路径跟踪精度低与外界不确定干扰等问题,提出了一种改进型自抗扰控制策略来控制驱动单元模型,实现驱动单元角速度(力矩)的高鲁棒性控制,从而提高了机器人的路径跟踪精度.通过分析机器人的运动状态,得到清洁机器人实际运动位姿与期望运动位姿之间的误差.由于外界环境以及其他不确定因素的干扰,通过建立清洁机器人移动底盘带不确定干扰因素的动力学控制模型,在传统自抗扰控制器的基础上通过改进fal函数,提出了一种运动学与动力学内外嵌套的改进型自抗扰策略.改进型扩张状态观测器来实时观测并补偿不确定干扰因素,从而实现清洁机器人高精度跟踪作业目标路径.通过多种目标路径的跟踪仿真实验,最终都表现出了较好的跟踪结果.证明了本文所设计的基于改进型自抗扰控制的光伏阵列清洁机器人路径跟踪控制算法的优越性与有效性,提高了光伏阵列清洁机器人的清洁作业路径跟踪精度. 相似文献
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本文结合线性时序逻辑理论与模糊控制方法,设计并实现了一种满足复杂任务需求的移动机器人巡回控制系统,它既能够针对复杂时序任务进行路径规划,又能够对机器人进行模糊控制实现路径跟踪.首先,基于线性时序逻辑理论,确定能够满足复杂巡回任务需求的全局最优路径.接着,根据所获得的最优路径,采用模糊控制方法设计轨迹跟踪控制器,使其通过实时位姿反馈对机器人进行路径跟踪控制.仿真结果验证了移动机器人巡回控制系统的有效性.最后,基于E-Puck移动机器人构建了能够满足复杂任务需求的移动机器人巡回控制实验系统.基于所提出的最优巡回路径规划算法和模糊控制器设计方法,通过图像处理、数据通信、算法加载等软件模块的实现完成了满足复杂任务需求的移动机器人巡回控制. 相似文献
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One of the most important applications of cable robots is load carrying along a specific path. Control procedure of cable
robots is more challenging compared to linkage robots since cables can’t afford pressure. Meanwhile carrying the heaviest
possible payload for this kind of robots is desired. In this paper a nonlinear optimal control is proposed in order to control
the end-effector within a predefined trajectory while the highest Dynamic Load Carrying Capacity (DLCC) can be carried. This
purpose is met by applying optimum torque distribution among the motors with acceptable tracking accuracy. Besides, other
algorithms are applied to make sure that the allowable workspace constraint is also satisfied. Since the dynamics of the robot
is nonlinear, feedback linearization approach is employed in order to control the end-effector on its desirable path in a
closed loop way while Linear Quadratic Regulator (LOR) method is used in order to optimize its controlling gains since the
state space is linearized by the feedback linearization. The proposed algorithm is supported by doing some simulation studies
on a two Degrees of Freedom (DOF) constrained planar cable robot as well as a six DOFs under constrained cable suspended robot
and their DLCCs are calculated by satisfying the motor torque, tracking error and allowable workspace constraints. The results
including the angular velocity, motors’ torque, actual tracking of the end-effector and the DLCC of the robot are calculated
and verified using experimental tests done on the cable robot. Comparison of the results of open loop simulation results,
closed loop simulation results and experimental tests, shows that the results are improved by applying the proposed algorithm.
This is the result of tuning the motors’ torque and accuracy in a way that the highest DLCC can be achieved. 相似文献
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针对空间机器人运动过程中基座姿态产生较大扰动的问题,基于hp自适应高斯伪谱法提出了一种以基座所受反作用力矩最小为目标函数的空间机器人路径规划方法.首先,综合考虑空间机器人运动过程中存在的关节角度约束、关节角速度约束、控制力矩约束及初始状态和终端状态约束等约束条件,将空间机器人路径规划问题看成满足一系列约束条件和边界条件并实现特定性能指标最优的最优控制问题.其次,结合hp自适应高斯伪谱法(hp-AGPM)与非线性规划技术,求解带有边界约束和路径约束的优化控制问题,得到满足约束且性能指标最优的空间机器人运动轨迹.最后,以平面2自由度空间机械臂为例对所设计方法进行仿真验证,并与其他伪谱法进行对比分析.仿真结果表明:本文算法能在10.6 s的时间内规划出满足各约束条件且容许偏差低于10-6的最优运动轨迹,并且在计算速度和配点数量上都优于其他伪谱法. 相似文献
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For rigid body robot manipulators, the computed torque approach provides asymptotic stability for tracking control tasks. However, the state dependent matrices needed to complete the computed torque algorithm are normally unknown and possibly too complex for a real-time implementation. This paper proposes a simple controller with computed-torque-like structure enhanced by integral sliding mode, having pole-placement capability. For the reduction of the chattering effect generated by the sliding mode part, the integral sliding mode is posed as a perturbation estimator with quasi-continuous control action provided by an additional low-pass filter. The time-constant of the latter tunes the controller functionality between the perturbation compensation and a pure integral sliding mode control, as well as between chattering reduction and system robustness. A comparative simulation study between conventional sliding mode control, integral sliding mode control, and integral sliding mode in form of a perturbation estimator for a two-link robot arm validates the proposed design. 相似文献
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为解决柔性关节机器人在关节驱动力矩输出受限情况下的轨迹跟踪控制问题,提出一种基于奇异摄动理论的有界控制器.首先,利用奇异摄动理论将柔性关节机器人动力学模型解耦成快、慢两个子系统.然后,引入一类平滑饱和函数和径向基函数神经网络非线性逼近手段,依据反步策略设计了针对慢子系统的有界控制器.在快子系统的有界控制器设计中,通过关节弹性力矩跟踪误差的滤波处理加速系统的收敛.同时,在快、慢子系统控制器中均采用模糊逻辑实现控制参数的在线动态自调整.此外,结合李雅普诺夫稳定理论给出了严格的系统稳定性证明.最后,通过仿真对比实验验证了所提出控制方法的有效性和优越性. 相似文献
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Verscheure D. Demeulenaere B. Swevers J. De Schutter J. Diehl M. 《Automatic Control, IEEE Transactions on》2009,54(10):2318-2327
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This paper deals with accuracy and reliability for the path tracking control of a four wheel mobile robot with a double-steering system when moving at high dynamics on a slippery surface. An extended kinematic model of the robot is developed considering the effects of wheel–ground skidding. This bicycle type model is augmented to form a dynamic model that considers an actuation of the four wheels. Based on the extended kinematic model, an adaptive and predictive controller for the path tracking is developed to drive the wheels front and rear steering angles. The resulting control law is combined with a stabilization algorithm of the yaw motion which modulates the actuation torque of each four wheels, on the basis of the robot dynamic model. The global control architecture is experimentally evaluated on a wet grass slippery terrain, with speeds up to 7 m/s. Experimental results demonstrate enhancement of tracking performances in terms of stability and accuracy relative to the kinematic control. 相似文献