基于动态摩擦补偿的两自由度机器人分解加速度控制研究

吴子英; 刘宏昭; 李鹏飞; 刘丽兰; 石坤

基于动态摩擦补偿的两自由度机器人分解加速度控制研究

1.
西安理工大学机械与精密仪器工程学院, 西安 710048

基金项目:

陕西省科技计划项目(2010JQ7003)

陕西省教育厅项目(2010JK701和11JK0858)资助

详细信息

作者简介:
吴子英(1975-)，副教授，博士，研究方向为机电系统动力学建模和参数辨识及控制，ziyingwu@163.Com

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- 文章访问数: 201
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- 被引次数: 0
出版历程
- 收稿日期: 2010-11-08
- 刊出日期: 2015-06-10

Research on the Resolved Acceleration Control of 2-DOF Robot Based on the Dynamic Friction Compensation

1.
School of Machinery and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048

摘要

摘要: 针对笛卡尔坐标系下机器人的末端执行器的轨迹跟踪问题,将分解加速度控制补偿理论应用到机器人的控制补偿中,提出了基于LuGre摩擦模型的摩擦观测器,仿真计算验证了所提出的LuGre模型观测器的正确性和分解加速度控制的有效性。对比基于库仑摩擦模型和LuGre摩擦模型补偿的机械手末端执行器的轨迹跟踪效果,得出了基于LuGre摩擦模型的控制对理论轨迹的逼近程度要好于经典的库仑摩擦模型,为机器人的相关研究提供参考。
- 摩擦补偿 /
- 分解加速度控制 /
- 机器人 /
- LuGre /
- 库仑
Abstract: The trajectory tracking of the end effector of 2-DOF robot in the Cartesian coordinate is implemented by using the resolved acceleration control method.The observer for the unmeasured internal state z is proposed for the friction compensation based on the LuGre friction model.The simulation results indicate that the observer is correct.Through comparisons,the trajectory tracking results obtained by the compensation based on the LuGre friction model agree with the theoretical values better than that based on the Coulomb friction model.
- friction compensation /
- resolved acceleration control /
- robot /
- LuGre /
- Coulomb

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参考文献(12)

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