具有柔性关节的直角型工业机械臂轨迹控制

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583001

T. Yoshikawa, K. Hosoda, K. Harada, M. Ichikawa

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引用次数: 6

摘要

提出了一种直角型三自由度柔性关节工业机械臂的PTP和轨迹控制方法。采用弹簧-质量模型对机械手的弹性进行建模。为了建立运动方程，使用拉格朗日公式。导出了状态方程。然后近似线性化。制定了PTP控制系统。该PTP控制系统采用最小阶观测器，并基于最优控制理论实现轨迹控制。此外，还对期望轨迹进行了修正，以提高跟踪性能。最后，给出了计算机仿真结果，验证了所提跟踪控制器的有效性。

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Trajectory control of Cartesian type industrial manipulators with flexible joints

In this paper, a method for PTP and trajectory control of Cartesian type three DOF industrial manipulator with flexible joints are proposed. The elasticity of the manipulator is modeled using the spring-mass model. To establish the equation of motion, the Lagrangian formulation is used. The state equation is derived. Then it is linearized approximately. The PTP control system is formulated. A minimal order observer is used in this PTP control system, and the trajectory control is realized based on the optimal control theory. Furthermore, the desired trajectory is modified to improve the tracking performance. Finally, computer simulation results are given to show the validity of the proposed tracking controller.

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来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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