一种3自由度并联柔索驱动柔性操作臂的建模与控制

以一种3自由度并联柔索驱动机器人为研究对象,研究这种并联柔性系统的控制规律。考虑到运动描述的唯一性及易测性,取约束关节的位置作为广义关节变量,用以描述操作臂的运动状态。在此基础上分析了操作臂的运动学和静力学关系,建立了并联柔性系统的动力学模型。然后,以轨迹控制为目标,分别基于刚性模型和柔性模型设计控制器,并对系统的性能进行分析和仿真。结果表明:基于刚性模型控制器的性能较差,而基于柔性模型的奇异摄动方法则可以获得较好的控制效果。

The control law of this kind of parallel flexible system is studied based on a 3-DOF parallel wire driven robot. In order to uniquely determine and easily measure the states of the manipulator, the variables of the constraint joints are used for describing the motion of the manipulator. Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established. Based on this model, the tracking control is studied. The controller is designed respectively based on a rigid model and the flexible model, and the performances of the controllers are analyzed, too. Finally, a simulation is made, and the results show that the performance of the rigid controller is bad, while the singular perturbation controller based on flexible model has good performance.

国家自然科学基金资助项目(50275143)