基于鲁棒控制的六自由度机械臂三维机械臂建模与轨迹跟踪

Zamoum Housseyn, Bouzid Yasser, Guiatni Mohamed
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引用次数: 0

摘要

本文介绍了一种由两个子系统组成的空中操纵系统的建模和控制:以六旋翼机(DJI F550)为代表的空中平台和易于集成到六旋翼机中的轻型三自由度(3-DOF)操纵臂。我们还提出了一种基于树形结构浮基系统动力学的空中操纵系统建模的新方法,例如在仿生软机器人和空间机器人中研究的那些。该系统面临许多挑战,如不对称、不断变化的惯性和重心。这些挑战对空中操纵机器人的轨迹跟踪控制提出了重要的问题。为此,提出了一种基于滑模控制器的鲁棒控制技术,以实现高精度的三维轨迹跟踪目标。最后,通过数值模拟验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modeling and trajectory tracking by robust control of a hexacopter with a 3-D OF manipulator arm
This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique.
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