基于解耦控制的SCARA机器人轨迹跟踪控制器设计

SCARA型机器人的控制问题由于其动力学模型中没有重力矩项的作用而得以简化,由于在实际应用中经常要求其高速运动,则对具有强耦合的哥氏力与向心力的控制就成为制约其系统性能的重要问题。提出通过线性变换对机器人系统解耦,将高阶系统转化为解耦的低阶系统进行控制的方法,并且应用极点配置对解耦的系统求解机器人控制器。该方法无需测量关节速度和加速度,只需要测量关节位置信号。所提出的控制器既能保证闭环系统全局渐进稳定,又能通过对线性化系统闭环极点的配置来获得期望的闭环系统响应性能。仿真实验证明了所提出的控制器设计方法的可行性。

The requirement on SCARA robot control is simplified with the nonexistence of gravitational forces term in the dynamics model. In real applications, however, high velocity is frequently required in SCARA robot where coriolis and centrifugal forces become strongly coupled, therefore significantly restrict the performance of the control system. A linear transformation was proposed to decouple the robot system model, and a controller was obtained by using the pole assignment in the decoupled system. This method requires detection of only the position signal, but not the speed or acceleration signals. The presented controller can ensure the global asymptotic stability of the closed-loop system, and attain the desired response performance by assigning the poles of the closed-loop system. Computer simulation results demonstrate the effectiveness of the proposed approach.