摘要
手术机器人通常采用独立的PD控制或基于重力补偿的PD控制,但两种模型的控制律引入之后,系统的闭环误差方程是线性方程,而且不能充分考虑机器人的动力学特性。针对这个问题,提出一种基于输入-输出稳定性理论的控制模型,该模型使系统的闭环误差方程为非线性方程,体现了机器人的非线性本质。通过Matlab软件比较了重力补偿PD控制与基于输入-输出稳定性理论的控制所得末端的位置偏差,该方法得到的末端位置最大偏差为0.15 mm。
Surgical robots are usually controlled by the method of independent PD or the PD model based on gravity compensation. However, after both of the control models imported, the equation of the closed - loop error is lin- ear. The two models cannot use the dynamics effectively. According to this problem , a control model based on Input - Output stability theory is proposed. The closed- loop error of this model is non- hnear, accord with the essence of the robot. Then the position tolerance of PD control based on gravity compensation and that of control based on Input - Output stability theory are compared by Matlab software. The maximal tolerance of the robot end - effector is 0.15
出处
《机械传动》
CSCD
北大核心
2013年第3期8-10,共3页
Journal of Mechanical Transmission
基金
成都市科技计划项目(11DXYB190JH-027)
四川省科技支撑计划项目(2011GZ0096)
四川省科技支撑计划项目(2012FZ0042)
