柔顺并联机器人动力学及轨迹跟踪

以含有开槽型柔顺关节的并联机器人为研究对象,对其动力学及轨迹跟踪问题进行研究。根据柔顺关节特性,建立系统分析模型,应用拉格朗日方法建立系统动力学方程。为补偿系统具有的不确定性,分别设计趋近律上界滑模控制策略和径向基函数(Radial basis function,RBF)神经网络趋近律滑模控制策略,基于Lyapunov理论证明了系统的全局稳定性。应用S型速度规划曲线,分别给出直线轨迹和圆轨迹的运动规划算法。仿真结果表明,系统模型及控制策略能够有效实现柔顺关节并联机器人的轨迹跟踪。

Dynamics and Trajectory Tracking of a Compliant Parallel Robot

The research on dynamics and trajectory tracking of the parallel robot with open thin-walled compliant joints is presented. According to the characteristics of compliant joints, the system model is derived. The dynamic equation is obtained based on Lagrange method. To compensate the uncertainty of system, a reaching law sliding mode control strategy with upper bound and the other one with the radial basis function (RBF) neural network are designed respectively. The stability of control strategies is verified based on Lyapunov theory. The motion planning algorithms of linear and circular trajectories are presented by S-curve velocity planning method. Simulation results show that the system model and the control strategies are effective to realize the trajectory tracking of parallel robot with compliant joints.