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Self-adaptive finite time convergence sliding-mode control method of robot

A technology with limited time and control method, applied in the field of control, can solve problems such as difficulty in meeting the control accuracy and torque smoothness requirements of robot systems

Active Publication Date: 2015-12-23
广东若贝特设备制造有限公司
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  • Application Information

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Problems solved by technology

[0017] For an n-dimensional robot system, the characteristics of each degree of freedom may be quite different. Therefore, formula (1.5) is relatively conservative in estimating the system uncertainty, and it is difficult to satisfy the control accuracy and control accuracy of robot systems with different characteristics of each degree of freedom. Moment smoothness requirements

Method used

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  • Self-adaptive finite time convergence sliding-mode control method of robot
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  • Self-adaptive finite time convergence sliding-mode control method of robot

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Embodiment

[0182] The method of this embodiment takes a conventional 2-branched manipulator (a typical serial robot system) as the control object, and the 2-branch structure is as follows: figure 2 shown, where r 1 ,r 2 , J 1 , J 2 ,m 1 ,m 2 ,q 1 ,q 2 Respectively represent the length of branch 1, the length of branch 2, the inertia of branch 1, the inertia of branch 2, the mass of branch 1, the mass of branch 2, the angle of branch 1 and the angle of branch 2.

[0183] given its main structural parameter r 1 ,r 2 , J 1 , J 2 ,m 1 and m 2 They are 1m, 0.8m, 5kgm, 5kgm, 0.5kg and 1.5kg respectively. Assume the desired trajectory q d,rob =[q d,rob,1 ,q d,rob,2 ] T and the initial pose q 0,rob respectively

[0184] q d,rob,1 =a 1 sin(ω 1 t)+a 2 cos(ω 2 t)+a 3 sin(ω 3 t)+a 4 cos(ω 4 t)+a 5 sin(ω 5 t)+a 6 cos(ω 6 t) (3.1)

[0185] q d,rob,2 =b 1 sin(ω 1 t)+b 2 cos(ω 2 t)+b 3 sin(ω 3 t)+b 4 cos(ω 4 t)+b 5 sin(ω 5 t)+b 6 cos(ω 6 t)(3.2)

[0186] q ...

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Abstract

The invention relates to a self-adaptive finite time convergence sliding-mode control method of a robot and belongs to the technical field of control. The method comprises steps as follows: establishing a robot kinetic equation considering uncertainty, determining a sliding mode surface, then introducing n-dimensional self-adaptive updating rate, calculating value of active power / moment required for driving the robot finally, and driving a robot system based on the value so as to enable generalized coordinate vectors of the robot to converge to a steady-state or trace command signals in finite time. The method has the characteristics and benefits as follows: firstly, the problem of chattering of the sliding-mode control is solved greatly while high-precision control is realized; secondly, possible influence of different dynamic characteristics in all directions of freedom degrees of the robot system can be eliminated; thirdly, the problem of moment saturation and chattering of the robot system at the starting stage can be solved; fourthly, kinetic compensation guaranteeing real-time performance of the control can be realized. The method is applicable to the robot systems with structure types of parallel connection, series connection, series-parallel connection and the like.

Description

technical field [0001] The invention belongs to the technical field of control, in particular to an adaptive finite-time convergent sliding mode control method of a robot, which is suitable for a robust control method of a robot with uncertainty. Background technique [0002] General robot systems include robot systems of structural types such as parallel robots, serial robots, and hybrid robots. The ultimate goal of robot system control is to make the generalized coordinate vector q of the robot reach a steady state or track the command signal q d ; To achieve this goal, it is necessary to obtain the actual generalized coordinate vector q of the robot system and the actual generalized velocity vector of the robot system value, and then calculate the value of the active force or torque required to drive the robot according to the specific control method, and then drive the robot to complete the required operation. [0003] The robot system is a typical complex multi-input...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J9/16G06F19/00
Inventor 孟强
Owner 广东若贝特设备制造有限公司
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