工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

In this paper, we propose a general control algorithm for dynamic control of robot manipulator. In this control algorithm, the Cerebellar Model Arithmetic Computer (CMAC) is used to estimate dynamic e-quation of robot manipulator and compute feedforward torque for implementing desired movement. An adaptive controller is used to implement feedback control and eliminate robot manipulator motion error caused by input disturbance and parameter changes. The control scheme is computationally efficient and well suited to fixed -point implementation. The effectiveness of the control algorithm is verified by the computer simulation experiment of repetitive movements of two forearms of 4 d. o. f D-D robot manipulator.