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分析了移动式救援机器人系统参数存在误差时,其机械臂工作端轨迹的跟踪控制问题。首先基于雅可比矩阵概念与欧拉-拉格朗日方法,建立了移动式救援机器人系统的运动学与动力学模型。然后,分析了系统的运动学与动力学模型存在误差时,对于逆动力学控制算法的影响,为了克服这种影响,引入了参数在线识别算法-自适应控制,设计了新的自适应-逆动力学控制算法。最后,通过计算机数值仿真,验证了设计的自适应-逆动力学控制算法的有效性。
The tracking control problem of the working end of the manipulator is analyzed when there is error in the parameters of the mobile rescuing robot. First, based on the concept of Jacobi matrix and the Euler-Lagrange method, a kinematics and dynamics model of the mobile rescue robot system is established. Then, the influence of inverse kinematics control algorithm when there is error in the kinematics and dynamics model of the system is analyzed. In order to overcome this effect, an online parameter identification algorithm - adaptive control is introduced and a new adaptive inverse Kinetic control algorithm. Finally, the numerical simulation of the computer verifies the effectiveness of the proposed adaptive-inverse dynamics control algorithm.