摘要
多连杆机械臂的非驱动连杆关节在间接驱动力自由耦合作用下,重叠位姿难以估计,且多连杆关节处摩擦力等外力扰动更大,出现抖振,造成位姿控制难度增加,偏差较大,为此,提出基于混合滑模的多连杆欠驱动机械臂位姿控制。基于最小尺寸点模型改进YOLOv2模型,在驱动力自由耦合作用下,融合PnP算法,通过映射投影估计多连杆欠驱动机械臂重叠位姿,设计机械臂位姿控制的滑模控制器。引入模糊控制器优化滑模控制器参数的扰动自适应性,控制抖振,结合干扰饱和函数,综合滑模控制器和模糊控制器,控制多连杆欠驱动机械臂位姿。实验结果表明,相较于基于位置闭环的关节角度控制法、PD型迭代滑模迭代学习控制法和基于OpenMV的五自由度机械臂控制法,所提方法的多连杆欠驱动机械臂位姿估计与实际位姿偏差较小,在外力扰动环境下的抖振控制偏差较低,适用于实际控制工程。
The non driven linkage joints of a multi link robotic arm are difficult to estimate the overlapping pose under the free coupling of indirect driving force,and the friction and other external disturbances at the multi link joints are greater,resulting in chattering and increasing the difficulty and deviation of pose control.Therefore,a multi link underactuated robotic arm pose control based on hybrid sliding mode is proposed.Based on the minimum size point model,the YOLOv2 model is improved.Under the free coupling of driving forces,the PnP algorithm is integrated to estimate the overlapping pose of a multi link underactuated robotic arm through mapping projection.A sliding mode controller for robotic arm pose control is designed,and a fuzzy controller is introduced to optimize the disturbance adaptability of the sliding mode controller parameters and control chattering.Combined with the disturbance saturation function,the sliding mode controller and fuzzy controller are integrated to control the pose of a multi link underactuated robotic arm.The experimental results show that compared with the joint angle control method based on position closed loop,iterative learning control method with the PD type iterative sliding mode and the five degree of freedom robotic arm control method based on OpenMV,the proposed method has a smaller deviation between the multi link underactuated robotic arm pose estimation and the actual pose,and a lower deviation in chattering control under external force disturbance environment.Therefore,the proposed method is suitable for practical control engineering.
作者
朱宴南
佟佳庆
钱磊
贾军
左佳利
王丰
ZHU Yannan;TONG Jiaqing;QIAN Lei;JIA Jun;ZUO Jiali;WANG Feng(Jarud Banner Zhahanaoer Coal Industry Co.,Ltd.,Holingola 029100,China;Yantai Jereh Petroleum Equipment and Technologies Co.,Ltd.,Yantai 264680,China)
出处
《机械与电子》
2025年第6期42-47,共6页
Machinery & Electronics
基金
扎哈淖尔煤业公司科技项目(042300006272)。
关键词
位姿估计
多连杆欠驱动机械臂
滑模控制器
模糊控制器
位姿控制
pose estimation
multi link underactuated robotic arm
sliding mode controller
fuzzy controller
pose control
