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以平面移动机械臂为研究对象,设计了一种基于ADRC的跟踪控制策略来提高机器人运动过程中抗干扰的能力。该策略针对移动机械臂机构上冗余的特点,引入了一种动力学解耦方案。在此基础之上,分别针对移动机械臂任务空间和配置空间的轨迹跟踪问题设计了相应的基于ADRC的控制器,使移动平台和机械臂能够进行协同的跟踪控制。通过仿真实验验证了该控制策略的有效性,并通过PID、NLPID和ADRC控制器在移动机械臂末端轨迹跟踪时的误差比较,说明了ADRC控制策略在对机器人总体扰动估计上的作用。
Taking planar moving manipulator as research object, a tracking control strategy based on ADRC is designed to improve the anti-jamming ability of robot during its movement. This strategy introduces a dynamic decoupling scheme for the redundancy of mobile manipulator mechanism. On this basis, corresponding ADRC-based controllers are designed respectively for the trajectory tracking problem of the mobile robot’s mission space and configuration space so that the mobile platform and the robot arm can perform coordinated tracking control. The effectiveness of the proposed control strategy is verified by simulation experiments. The error of ADRC control strategy on the global disturbance estimation of robots is illustrated through the comparison of error between PID, NLPID and ADRC controller tracking at the end of mobile manipulator.