摘要
在机器人精细操控任务中,模型准确性的缺失会影响机器人的控制性能,现有的自适应控制方法可以有效解决动力学参数存在不确定性的机器人控制问题,然而运动学参数不准确或未知的情况也普遍存在,往往这种不确定性会给机器人的位姿控制精度带来更大的影响.虽然有些研究试图通过视觉等测量方式实现运动学模型的估计,但是迄今为止,同时考虑动力学参数和运动学参数不确定性的研究仍然少见.本文提出了一种自适应算法,同时考虑运动学和动力学参数的不确定性,在无需测量机器人末端速度的条件下得到了笛卡儿空间全局渐近稳定的轨迹跟踪控制,相比于已有方法计算更小量、更简洁、易实现.通过一个二自由度机械臂的仿真案例验证了所提方法的有效性.
In the applications of robot systems,one of the most important factors that impact the performance of the controller is the lack of the model's accuracy.The existing adaptive control methods can effectively solve the control problem of robots with dynamic uncertainties.However,it is quite common that the kinematic parameters are also inaccurate or unknown. Actually the uncertainties of the kinematic parameters often have a greater impact on the accuracy of the robot in cartesian space.Although some studies have attempted to estimate kinematic models by means of computer vision,so far,studies that take both dynamic and kinematic uncertainties into consideration are still rare.In this paper,an adaptive control algorithm for robots with uncertain kinematic and dynamic is proposed.The global asymptotically stable trajectory tracking of Cartesian space is obtained without measuring the velocity of the robot end-effector.Compared with the existing methods,it is with less computation and easier to implement.The simulation case with a two-DOFs manipulator verifies the effectiveness of the method.
作者
李剑飞
张大伟
王耀兵
LI JianFei;ZHANG DaWei;WANG YaoBing(Beijing Key Laboratory of lntelligent Space Robotic System Technology and Applications,Institute of Spacecraft System Engineering, China Academy of Space Technology,Beijing 100094,China)
出处
《中国科学：物理学、力学、天文学》
CSCD
北大核心
2019年第2期168-174,共7页
Scientia Sinica Physica,Mechanica & Astronomica
基金
国家自然科学基金(编号:61733001)资助项目
关键词
机器人
自适应
参数不确定
robots
adaptive
parameter uncertainties
