基于双模同步预测的机械臂末端轮廓精确跟踪控制

为减小机械臂末端在进行轨迹跟踪运动时的轮廓误差,提出一种机械臂轮廓误差同步预测控制策略。该策略将操作空间轮廓误差映射到关节空间,从而定义机械臂各关节的同步行为,有效减小了末端轮廓误差,提高了机械臂各关节的运动协调性。为解决常规预测控制器不能保证系统稳定的问题,提出双模同步预测控制方法,通过在预测时域外切换到局部控制率来保证控制器的稳定性。实验结果表明:所设计的控制器能有效减小末端轮廓误差并使关节输出力矩更加平稳。

Contour Precision Tracking Control in End-effector Space of Robot Manipulator Based on Dual-mode Synchronization Predictive Algorithm

To reduce the contour error of the end of manipulator during trajectory tracking,a synchronous predictive control strategy for manipulator was proposed.In this strategy,the operation space contour error was mapped to the joint space,thus the synchronous behavior of each joint of the manipulator was defined,so the end contour error was effectively reduced and the motion coordination of each joint of the manipulator was improved.To solve the problem that the conventional predictive controller can't guarantee the stability of the system,a dual-mode synchronization predictive control method was proposed,by which the stability of the controller was guaranteed by switching to the local control rate in the prediction time domain.The experimental results show that using the designed controller,the contour error can be effectively reduced and the joint output torque is more stable.