利用多项式输入轨迹和反馈控制实现旋转柔性连杆机械手的精确运动控制

Phuc Tran, Saeid Bashash
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引用次数: 0

摘要

本文旨在利用多项式参考、前馈输入和反馈控制,为柔性连杆机械手开发一种高精度控制器。控制目标是在不激发柔性连杆共振模态的情况下,尽快将柔性连杆的顶端移动到目标位置。在基于频率响应的系统识别后,设计了一个频域反馈控制器用于参考跟踪。该控制器包括一个比例积分控制器、一个前导滤波器和一组陷波滤波器,用于控制刚体和柔性连杆的动态。然后设计了一组多项式参考和前馈输入轨迹,以改善跟踪性能并最大限度地减少残余振动。传统的多项式参考是根据系统的刚体运动生成的。然后,通过在传统基准中添加柔性运动,开发出一种改进的多项式基准生成方法。模拟和实验测试表明,使用修订后的多项式轨迹,控制系统的性能有了显著提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Precision motion control of rotary flexible link manipulators using polynomial input trajectories and feedback control
This paper aims to develop a high-precision controller for a flexible link manipulator using polynomial reference, feedforward input, and feedback control. The control objective is to move the tip of the flexible link to a target position as quickly as possible without exciting its resonant modes. Upon a frequency response-based system identification, a frequency-domain feedback controller is designed for reference tracking. The controller includes a proportional-integral controller, a lead filter, and a set of notch filters to control the rigid body and the flexible link dynamics. A set of polynomial reference and feedforward input trajectories are then designed to improve the tracking performance and minimize residual vibrations. The conventional polynomial reference is generated based on the rigid body motion of the system. A revised polynomial reference generation method is then developed by adding flexible motions to the conventional reference. Simulations and experimental tests indicate significant improvements in the performance of the control system using the revised polynomial trajectories.
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