国防科技大学学报2024，Vol.46Issue(4)：142-149,8.DOI:10.11887/j.cn.202404015
基于低通滤波器的柔性关节空间机器人时延估计跟踪控制
Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter
摘要
Abstract
In order to solve the joint tracking control and vibration problem of flexible-joint space robot system in the pre-grasping stage when the position and pose are not controlled,the dynamic equations of a free-floating three-bar flexible-joint space robot system are established using the Lagrangian equation in conjunction with the principle of momentum conservation.In order to improve the equivalent stiffness of flexible-joint,a joint flexible compensation method was introduced.The flexible-joint space robot system was divided into slow and fast systems by singular perturbation theory.On this basis,a sliding mode control method with time delay estimation as the main framework was designed for the slow variable systems,while combining it with a low-pass filter to eliminate the system chattering problem caused by sliding mode control.A linear velocity difference feedback control system was designed for the fast-changing system to suppress the flexible vibration problems introduced by the flexible joints.Simulation verification demonstrates that the space robotic arm is capable of quickly and steadily tracking the desired trajectory within a limited time,confirming that the control scheme possesses good robustness and reliability.关键词
柔性关节空间机器人/关节柔性补偿/时延估计/滑模变结构控制/低通滤波器Key words
flexible-joint space robot/joint flexibility compensation/time-delay estimation/sliding mode variable structure control/low-pass filter分类
信息技术与安全科学引用本文复制引用
徐河振,于潇雁,张宇涵,陈力..基于低通滤波器的柔性关节空间机器人时延估计跟踪控制[J].国防科技大学学报,2024,46(4):142-149,8.基金项目
国家自然科学基金资助项目(11372073,51741502) （11372073,51741502）
福建省自然科学基金资助项目(2020J01450) （2020J01450）
福建省工业机器人基础部件技术重大研发平台资助项目(2014H21010011) （2014H21010011）
