摘要
针对目前机械臂在使用控制器时,存在轨迹追踪误差较大问题,设计了机械臂线性变参数控制方法,并且对追踪误差进行仿真验证。构造了两关节机械臂运动简图,建立机械臂刚体动力学数学模型,引入动力学参数的线性组合,推导出线性变参数模型。设计出机械臂的线性变参数控制器,采用Matlab/Simulation软件对控制器的轨迹追踪误差进行仿真。同时,与其它控制器的机械臂轨迹追踪误差仿真结果进行比较和分析。仿真结果显示,采用线性变参数控制器实际输出运动轨迹与理论期望运动轨迹更接近,运动比较平稳。采用线性变参数控制可以提高机械臂运动轨迹的追踪精度。
Aiming at the problem that trajectory tracking error is large when manipulator is used with a controller, a linear varia-ble parameter control method of manipulator was designed, and the tracking error was simulated and verified. The kinematics diagram of the two-joint manipulator was constructed, and the mathematical model of the rigid-body dynamics of the manipulator was established. The linear combination of the kinetic parameters was introduced to derive the linear variable parameter model. The linear variable pa-rameter controller of the manipulator was designed. The tracking error of the controller was simulated by Matlab/Simulation software. At the same time, it was compared and analyzed with the results of simulation of the trajectory tracking error of other manipulators of con-trollers. The simulation results show that the actual output trajectory of the linear variable parameter controller is more close to the ex-pected trajectory of the theory and the motion is relatively stable. Linear variable parameter control can improve the trajectory tracking accuracy of the manipulator.
出处
《机床与液压》
北大核心
2017年第9期42-45,49,共5页
Machine Tool & Hydraulics
关键词
机械臂
线性变参数
轨迹追踪
控制器
误差仿真
Manipulator
Linear variable parameter
Trajectory tracking
Controller
Error simulation
