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本文扩展了一种用于力矩受控机器人手臂非线性控制器设计的设计方法。控制器由非线性前置补偿器构成,该补偿器使机器人手臂表现为一组线性二阶系统(每个自由度为一个线性系统)和一个线性反馈控制器。非线性控制器用希望的线性闭环传递函数确定参数,这就自动达到通常系统的稳定性。然后调整控制器的参数(诸如希望的闭环传递函数的带宽之类的参数)使之满足工程上的约束。譬如控制硬件约束(状态的非线性函数)、机器人性能和机器人稳定性(任凭机器人手臂之摩擦、质量等参数的变化,保持机器人性能和稳定性)。阐述了近来提出的以最佳化为基础的(Optim-isation-based)设计法的内容。通过一个例子的讨论和仿真结果,以说明此设计步骤。
In this paper, a design method of arm nonlinear controller for moment-controlled robots is extended. The controller consists of a nonlinear predistorter that renders the robot arm a linear second-order system (one linear system for each degree of freedom) and a linear feedback controller. The nonlinear controller determines the parameters with the desired linear closed-loop transfer function, which automatically reaches the usual stability of the system. The parameters of the controller (such as the desired bandwidth of the closed-loop transfer function) are then adjusted to meet the engineering constraints. Such as controlling hardware constraints (nonlinear functions of states), robot performance and robot stability (despite changes in parameters such as friction and mass of the robot arm, maintaining robot performance and stability). The content of the recently proposed Optim-isation-based design method is described. Through an example of the discussion and simulation results to illustrate this design step.