摘要
研究了FROG-LEG型机械手的轨迹跟踪控制问题,提出将基于动力学的预测控制应用于机械手的位置控制,并利用当前时刻控制误差补偿下一周期的控制量。在分析FROG-LEG型机械手结构的基础上,首先建立了机械手的等效串联结构运动学模型,然后建立了水平和垂直方向解耦的动力学模型,在此基础上对并联机械手进行了基于预测控制的轨迹跟踪研究。仿真实验表明:该预测控制方案可以使得机械手有效地跟踪路径规划器给出的轨迹;关键关节的控制效果可以通过加大其权重得到提高;模型校正可以大大降低控制误差。
In this paper, track control of FROG-LEG parallel manipulator based on model predictive control was studied,and a method was proposed that the present moment control error could compensate the next cycle reference value. The structure of the FROG-LEG vacuum parallel manipulator was analyzed; its equivalent series structure kinematics model was obtained,and a dynamic model of the vacuum manipulator in level and vertical direction was established respectively. Then the manipulator control using model predictive control based on dynamic models was studied. The simulation results show that this model predictive control algorithm can effectively follow the track provided by the path controller;the control effect of key joint can be improved by enlarging its weight and model cali- bration can reduce the position tracking error prominently.
出处
《山东科技大学学报（自然科学版）》
CAS
2014年第1期104-110,共7页
Journal of Shandong University of Science and Technology(Natural Science)
基金
高等学校博士学科点专项基金项目(20123718120007)
关键词
机械手
模型预测控制
运动学
动力学
manipulator
model predictive control
kinematics
dynamics
