本文選題：機(jī)器人　切入點(diǎn)：多體系統(tǒng)　出處：《力學(xué)學(xué)報(bào)》2016年04期 　論文類型：期刊論文

【摘要】：隨著近年來機(jī)器人在各行業(yè)領(lǐng)域的廣泛應(yīng)用,對(duì)機(jī)器人的動(dòng)力學(xué)與控制性能不斷提出新的要求,特別是對(duì)設(shè)計(jì)越來越復(fù)雜、操作越來越靈巧的智能機(jī)器人,要求其能夠?qū)δ繕?biāo)軌跡實(shí)現(xiàn)高精度跟蹤以滿足實(shí)際工作需求.因此,針對(duì)機(jī)器人多體系統(tǒng)對(duì)目標(biāo)軌跡跟蹤的任務(wù)需求,基于微分代數(shù)方程提出瞬時(shí)最優(yōu)控制保辛方法.首先,采用多體動(dòng)力學(xué)絕對(duì)坐標(biāo)建模方法建立機(jī)器人系統(tǒng)的普適動(dòng)力學(xué)方程,即微分代數(shù)方程;然后,采用保辛方法將連續(xù)時(shí)間域內(nèi)的微分代數(shù)方程進(jìn)行離散化,進(jìn)而得到以當(dāng)前位置、速度和拉式乘子為未知量的非線性代數(shù)方程組;其次,通過引入對(duì)目標(biāo)軌跡跟蹤以及對(duì)控制加權(quán)的瞬時(shí)最優(yōu)性能指標(biāo),根據(jù)瞬時(shí)最優(yōu)控制理論獲得當(dāng)前最優(yōu)控制輸入;最后,通過離散時(shí)間步的更新完成對(duì)目標(biāo)軌跡的跟蹤任務(wù).為了驗(yàn)證本文方法的有效性,以雙擺軌跡跟蹤控制為例進(jìn)行了數(shù)值仿真,結(jié)果表明:針對(duì)機(jī)器人軌跡跟蹤任務(wù)所提出的瞬時(shí)最優(yōu)控制保辛方法能夠?qū)崿F(xiàn)對(duì)目標(biāo)軌跡的高精度跟蹤,且瞬時(shí)最優(yōu)控制由受控微分代數(shù)方程推導(dǎo)獲得,更具一般性,能夠適應(yīng)其他復(fù)雜多體系統(tǒng)的軌跡跟蹤控制問題.
[Abstract]:With the wide application of robots in various fields in recent years, new requirements have been put forward for the dynamics and control performance of robots, especially for intelligent robots with more and more complex design and more dexterous operation. It is required that the target trajectory can be tracked with high accuracy to meet the practical requirements. Therefore, aiming at the task requirement of target trajectory tracking in multi-body robot systems, a symplectic preserving method for instantaneous optimal control is proposed based on differential algebraic equations. The universal dynamical equation of robot system, namely differential algebraic equation, is established by using the method of absolute coordinate modeling of multi-body dynamics, and then the differential algebraic equation in continuous time domain is discretized by symplectic preserving method. Then, the nonlinear algebraic equations with the current position, velocity and pull multiplier as unknown variables are obtained. Secondly, the instantaneous optimal performance index of the target trajectory tracking and the control weighting are introduced. According to the instantaneous optimal control theory, the current optimal control input is obtained. Finally, the tracking task of the target trajectory is completed by updating the discrete time step. Numerical simulation is carried out with the example of double pendulum trajectory tracking control. The results show that the symplectic preserving method of instantaneous optimal control for robot trajectory tracking task can achieve high precision tracking of the target trajectory. Moreover, the instantaneous optimal control is derived from the controlled differential algebraic equation, which is more general and can adapt to the trajectory tracking control problem of other complex multi-body systems.
【作者單位】： 大連理工大學(xué)工程力學(xué)系工業(yè)裝備結(jié)構(gòu)分析國家重點(diǎn)實(shí)驗(yàn)室;大連理工大學(xué)航空航天學(xué)院工業(yè)裝備結(jié)構(gòu)分析國家重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(11472069,11472067,11432010)
【分類號(hào)】：O313.7

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本文編號(hào)：1610074