本文選題：機器人　切入點：多體系統(tǒng)　出處：《力學學報》2016年04期 　論文類型：期刊論文

【摘要】：隨著近年來機器人在各行業(yè)領域的廣泛應用,對機器人的動力學與控制性能不斷提出新的要求,特別是對設計越來越復雜、操作越來越靈巧的智能機器人,要求其能夠對目標軌跡實現(xiàn)高精度跟蹤以滿足實際工作需求.因此,針對機器人多體系統(tǒng)對目標軌跡跟蹤的任務需求,基于微分代數(shù)方程提出瞬時最優(yōu)控制保辛方法.首先,采用多體動力學絕對坐標建模方法建立機器人系統(tǒng)的普適動力學方程,即微分代數(shù)方程;然后,采用保辛方法將連續(xù)時間域內的微分代數(shù)方程進行離散化,進而得到以當前位置、速度和拉式乘子為未知量的非線性代數(shù)方程組;其次,通過引入對目標軌跡跟蹤以及對控制加權的瞬時最優(yōu)性能指標,根據(jù)瞬時最優(yōu)控制理論獲得當前最優(yōu)控制輸入;最后,通過離散時間步的更新完成對目標軌跡的跟蹤任務.為了驗證本文方法的有效性,以雙擺軌跡跟蹤控制為例進行了數(shù)值仿真,結果表明:針對機器人軌跡跟蹤任務所提出的瞬時最優(yōu)控制保辛方法能夠實現(xiàn)對目標軌跡的高精度跟蹤,且瞬時最優(yōu)控制由受控微分代數(shù)方程推導獲得,更具一般性,能夠適應其他復雜多體系統(tǒng)的軌跡跟蹤控制問題.
[Abstract]:With the wide application of robots in various fields in recent years, new requirements have been put forward for the dynamics and control performance of robots, especially for intelligent robots with more and more complex design and more dexterous operation. It is required that the target trajectory can be tracked with high accuracy to meet the practical requirements. Therefore, aiming at the task requirement of target trajectory tracking in multi-body robot systems, a symplectic preserving method for instantaneous optimal control is proposed based on differential algebraic equations. The universal dynamical equation of robot system, namely differential algebraic equation, is established by using the method of absolute coordinate modeling of multi-body dynamics, and then the differential algebraic equation in continuous time domain is discretized by symplectic preserving method. Then, the nonlinear algebraic equations with the current position, velocity and pull multiplier as unknown variables are obtained. Secondly, the instantaneous optimal performance index of the target trajectory tracking and the control weighting are introduced. According to the instantaneous optimal control theory, the current optimal control input is obtained. Finally, the tracking task of the target trajectory is completed by updating the discrete time step. Numerical simulation is carried out with the example of double pendulum trajectory tracking control. The results show that the symplectic preserving method of instantaneous optimal control for robot trajectory tracking task can achieve high precision tracking of the target trajectory. Moreover, the instantaneous optimal control is derived from the controlled differential algebraic equation, which is more general and can adapt to the trajectory tracking control problem of other complex multi-body systems.
【作者單位】： 大連理工大學工程力學系工業(yè)裝備結構分析國家重點實驗室;大連理工大學航空航天學院工業(yè)裝備結構分析國家重點實驗室;
【基金】：國家自然科學基金資助項目(11472069,11472067,11432010)
【分類號】：O313.7

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本文編號：1610074