發(fā)布時間：2018-04-28 05:20

  本文選題：機械臂 + 目標定位　； 參考：《計算機仿真》2017年06期

【摘要】：在工業(yè)機器人機械臂加工目標定位控制研究中,為了克服工業(yè)機械臂系統(tǒng)的非線性、強耦合性以及機械臂與加工目標的接觸力難以精確測量的不利因素,提高加工目標定位的精度,避免由于接觸力較大對加工目標和末端工具造成損壞。針對上述問題,提出了采用廣義動量觀測器估計機械臂與目標的接觸力,采用阻抗滑模控制方法提高目標定位的精度。首先建立了機械臂的笛卡爾空間動力學模型;其次可以較好的獲取到機械臂與目標的接觸力,機械臂能較為精確地跟蹤目標位置;然后根據(jù)Lyapunov函數(shù)證明了系統(tǒng)是漸近穩(wěn)定的。最后仿真結(jié)果表明該方法能夠提高機械臂加工目標定位精度,實現(xiàn)機械臂與加工目標柔性接觸,保證了加工目標和末端工具不受到損壞。
[Abstract]:In order to overcome the unfavorable factors such as the nonlinearity, strong coupling and the contact force between the manipulators and the machining targets, which are difficult to measure accurately in the research of target positioning and control of industrial robot manipulators, Improve the accuracy of machining target positioning and avoid damage to machining target and end tool due to high contact force. To solve the above problems, a generalized momentum observer is proposed to estimate the contact force between the manipulator and the target, and the impedance sliding mode control method is used to improve the accuracy of target location. First, the Cartesian spatial dynamics model of the manipulator is established; secondly, the contact force between the manipulator and the target can be obtained, and the manipulator can track the position of the target accurately, and then the system is proved to be asymptotically stable according to the Lyapunov function. Finally, the simulation results show that the method can improve the precision of machining target location, realize the flexible contact between the manipulator and the machining object, and ensure that the machining object and the end tool are not damaged.
【作者單位】： 西南科技大學信息工程學院;中國科學技術(shù)大學信息科學技術(shù)學院;
【基金】：四川省科技支撐計劃項目(2015FZ0091)
【分類號】：TP242.2

【參考文獻】

相關(guān)期刊論文 前3條

1 吳海彬;李實懿;吳國魁;;基于動量偏差觀測器的機器人碰撞檢測算法[J];電機與控制學報;2015年05期

2 何q，

本文編號：1813939