机电工程技术2024，Vol.53Issue(6)：79-83,5.DOI:10.3969/j.issn.1009-9492.2024.06.018
基于模糊滑模控制的双6-DOF机械臂协同控制方法
Cooperative Control Method of Double 6-DOF Robotic Arm Based on Fuzzy Sliding Mode Control
摘要
Abstract
At present,the traditional handling strategy of the double manipulator handling system has problems such as poor handling effect and poor synchronization of the double manipulator,and the trajectory planning of the double manipulator arm is only for the end trajectory,and the torque generated at the joint of the manipulator in the moving state is not considered.By establishing the model of UR5 robotic arm,analyzing the motion characteristics of the double robotic arm handling state,a new cooperative control method of double robotic arm based on fuzzy sliding mode control is established.Firstly,by establishing the kinematic closed-chain constraint relationship for the double robotic arm,it enables the double robotic arm to achieve the desired trajectory motion,secondly,it establishes the adjacent error cross-coupling synchronization strategy of the double robotic arm,which is intended to solve the synchronization problem between the double robotic arm,and the suggested fuzzy sliding mode control strategy is ultimately validated,by establishing the sliding mode surface and the sliding mode convergence law,realizes the trajectory tracking effect of the robotic arm with the control input stability at the joint.In conclusion,the effectiveness of this strategy has been substantiated by conducting a sliding mode control simulation on the UR5 robotic arm.关键词
双机械臂搬运/模糊滑模控制/交叉耦合同步策略/运动学闭链约束/轨迹跟踪/UR5机械臂Key words
dual robotic arm handling/fuzzy sliding mode control/cross-coupled synchronization strategy/kinematic closed-chain constraints/trajectory tracking分类
信息技术与安全科学引用本文复制引用
王宏民,蒋孟,邹云辉,黄建坷,潘增喜..基于模糊滑模控制的双6-DOF机械臂协同控制方法[J].机电工程技术,2024,53(6):79-83,5.基金项目
江门市基础与应用基础研究重点项目(202103010103260007341) （202103010103260007341）
广东省新一代信息技术重点领域专项(2021ZDX1086) （2021ZDX1086）
五邑大学港澳联合基金(2021WGALH18) （2021WGALH18）
