双操作臂的耦合误差同步协调控制

马良, 闫继宏, 高永生, 赵杰, 蔡鹤皋

哈尔滨工业大学机器人技术及系统国家重点实验室



摘要:

为了对具有不确定性参数的双操作臂机器人系统进行协调控制,在同步控制基础上引入包含位置误差和同步误差的耦合误差,提出一种能够自适应校正系统参数的同步控制策略,并利用Lyapunov稳定性理论证明了系统的全局稳定性.对2个二自由度操作臂机器人进行协调搬运实验研究,结果表明,该控制方法使双操作臂系统在协调运动过程中单操作臂的位置误差和双操作臂间的同步误差均收敛于零,实现了在单操作臂按期望轨迹运动的同时保证双操作臂间的运动同步,验证了所提策略对双操作臂同步协调控制的正确性和有效性.

关键词:  同步控制  耦合误差  操作臂  协调控制

DOI：10.11918/j.issn.0367-6234.2011.05.009

分类号:TP242.2

基金项目:国家高技术研究发展计划资助项目(2006AA04Z245);国家科技重大专项课题(2009ZX04004-062);国家重点实验室项目(SKLRS200801A05);中国博士后基金(200904500988);中央高校基本科研业务费专项资金资助(HIT.NSRIF.2009024)



Synchronized coordinated control of two manipulators with coupled error

MA Liang, YAN Ji-hong, GAO Yong-sheng, ZHAO Jie, CAI He-gao

State Key Laboratory of Robotics and System,Harbin Institute of Technology,150080 Harbin,China

Abstract:

To solve the problem of coordinated control for two manipulators with uncertain parameters,the coupled error containing position error and synchronization error is introduced into synchronized control;a new synchronized control strategy with adaptive correct system parameters is proposed;and Lyapunov stability theory is used to prove the global stability of system.The coordination experiment of two 2-DOF manipulators is executed,and the results show the position error of each manipulator and synchronization error of two manipulators convergence to zero simultaneously,which achieves the goal of one manipulator tracking its desired trajectory while ensuring the synchronized motion of two manipulators.The validity and effectiveness of the presented scheme is confirmed by the experiment.

Key words:  synchronized control  coupled error  manipulator  coordinated control