摘要
机械手在物联网组网环境下存在刚体与作业线跟踪耦合问题,为提高渐进跟踪精度,提出基于交叉耦合和滑模变结构解耦控制的并联柔索驱动机械手控制律设计方法。构建并联柔索驱动机械手的简化动力学模型和空间状态方程,根据滑模自适应迭代的方法构建物联网组网环境下的机械手扰动抑制迭代学习控制器,根据机械手单轴动作时的多组驱动作用跟踪曲线构建机械手解耦控制的多静力学模型,结合预设性能参数分析,采用交叉耦合控制的方法实现对机械手完整连续运动学转化和参数动态解算,在滑模控制器的基础上引入自适应积分项,构建变结构滑模控制实现对物联网环境下并联柔索驱动机械手解耦控制。仿真测试结果表明,该控制算法能有效实现对机械手的作业位姿参数的精确解算,末端位姿跟踪稳定性较好。
There is a coupling problem between rigid body and work line tracking in the IoT networking environment for robotic arms.To improve the asymptotic tracking accuracy,a control law design method for parallel flexible cable driven robotic arms based on cross coupling and sliding mode variable structure decoupling control is proposed.The paper constructs a simplified dynamic model and spatial state equation for a parallel flexible cable driven robotic arm,and uses the sliding mode adaptive iteration method to construct an iterative learning controller for disturbance suppression of the robotic arm in the Internet of Things networking environment.Based on the tracking curves of multiple sets of driving effects during the single axis action of the robotic arm,a multi static model for decoupling control of the robotic arm is constructed.Combined with the analysis of preset performance parameters,the cross coupling control method is adopted to achieve complete continuous kinematic transformation and parameter dynamic calculation of the robotic arm.On the basis of the sliding mode controller,an adaptive integral term is introduced to construct a variable structure sliding mode control to achieve decoupling control of the parallel flexible cable driven robotic arm in zero gravity environment.The simulation test results show that the control algorithm can effectively achieve accurate calculation of the working pose parameters of the robotic arm,and the stability of the end effector pose tracking is good.
作者
潘宇健
张兆麒
PAN Yujian;ZHANG Zhaoqi(Beijing Zhongguancun Aerospace Innovation Park Technology Development Co.,Ltd.,Beijing 100190,China;School of Communications and Information Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)
出处
《智能计算机与应用》
2025年第5期125-129,共5页
Intelligent Computer and Applications
关键词
物联网
耦合
机械手
解耦
控制
滑模
Internet of Things
coupling
manipulator
decoupling
control
sliding mode
