空间柔性机械臂高阶滑模干扰观测器轨迹跟踪
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摘要
在空间漂浮状态时机械臂载体姿态均不受控的条件下,针对机械臂在关节空间内轨迹跟踪及振动抑制等问题,提出了一种基于空间机械臂改进高阶滑模干扰观测器控制策略。利用拉格朗日方程及动量守恒定律建立机械臂运动学数学模型,对误差估计值进行修正,设计干扰观测器,根据机械臂末端轨迹设计合理的高阶滑模面及滑模函数。针对设计的观测器进行模拟仿真实验,并改变理想轨迹,使其在复杂曲线中运行。仿真结果表明:高阶滑模干扰观测器可应用于更为复杂的工作空间中,并更有效、精确地实现了轨迹跟踪任务。
Considering the condition that while manipulator is in space-floating state,the attitude is not controlled,aiming at problem of trajectory tracking and vibration suppression of manipulator in joint space,an improved control strategy for high-order sliding mode disturbance observer based on space manipulators is presented. In order to establish the kinematics mathematical model for the manipulator,the laws of momentum conservation and Lagrange equations are used. According to the end trajectory of the manipulator,design reasonable high-order sliding mode surface and sliding mode function. Simulation experiment is performed on the observer and change ideal trajectory to let it run in a complex curve. The simulation results show that the highorder sliding mode disturbance observer can effectively and accurately achieve trajectory tracking task,it can be applied to more complex workspaces.
Considering the condition that while manipulator is in space-floating state,the attitude is not controlled,aiming at problem of trajectory tracking and vibration suppression of manipulator in joint space,an improved control strategy for high-order sliding mode disturbance observer based on space manipulators is presented. In order to establish the kinematics mathematical model for the manipulator,the laws of momentum conservation and Lagrange equations are used. According to the end trajectory of the manipulator,design reasonable high-order sliding mode surface and sliding mode function. Simulation experiment is performed on the observer and change ideal trajectory to let it run in a complex curve. The simulation results show that the highorder sliding mode disturbance observer can effectively and accurately achieve trajectory tracking task,it can be applied to more complex workspaces.
引文
[1]张贝贝,赵东亚,赵通.基于干扰观测器的机器人自适应滑模控制[J].信息与控制,2018,47(2):184-190.
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[9]刘福才,夏威,秦利,等.不同重力条件下含铰间间隙空间机械臂PD—μ—SMC轨迹跟踪控制[J].高技术通讯,2017,27(4):342-350.
[10]童超,陈力.基于模糊幂次趋近律的漂浮基空间机器人快速滑模控制[J].机械设计与制造工程,2016,45(10):59-62.
[11]张晓龙,陈力.漂浮基空间机器人的全局鲁棒有限时间轨迹跟踪控制[J].机械设计与制造工程,2017,46(7):42-45.
[12] Wang H. Adaptive control of robot manipulators with uncertain kinematics and dynamics[J]. IEEE Transactions on Automatic Control,2017,62(2):948-954.
[2]徐亮,刘满禄,张静,等.基于桌面机械臂的快速任务调度控制系统设计[J].传感器与微系统,2018,37(8):100-103.
[3]康杨雨轩,郑文,李松林,等.基于Leap Motion的机械臂交互控制研究[J].传感器与微系统,2016,35(6):34-37.
[4]于潇雁,陈力.漂浮基柔性两杆空间机械臂基于状态观测器的鲁棒控制及振动控制[J].机械工程学报,2016,52(15):28-35.
[5]王兴龙,周志成,曲广吉.空间机械臂捕获失稳目标的动态轨迹规划方法[J].宇航学报,2017,38(7):678-685.
[6] Muhammad Saad,Liaquat M. Output regulation of feedback linearizable system(single link robot manipulator):A cascaded high gain observer approach[C]∥IEEE International Conference on Control System,Computing and Engineering,IEEE,2017:226-229.
[7] Martino Capurso,Ardakani M M G,Johansson R,et al. Sensorless kinesthetic teaching of robotic manipulators assisted by observerbased force control[C]∥IEEE International Conference on Robotics and Automation,IEEE,2017:945-950.
[8] Hisashi Tamashima,Hirata K. Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic biarticular muscles[C]∥Control Conference,IEEE,2018:204-209.
[9]刘福才,夏威,秦利,等.不同重力条件下含铰间间隙空间机械臂PD—μ—SMC轨迹跟踪控制[J].高技术通讯,2017,27(4):342-350.
[10]童超,陈力.基于模糊幂次趋近律的漂浮基空间机器人快速滑模控制[J].机械设计与制造工程,2016,45(10):59-62.
[11]张晓龙,陈力.漂浮基空间机器人的全局鲁棒有限时间轨迹跟踪控制[J].机械设计与制造工程,2017,46(7):42-45.
[12] Wang H. Adaptive control of robot manipulators with uncertain kinematics and dynamics[J]. IEEE Transactions on Automatic Control,2017,62(2):948-954.