具有简单重力补偿的机械手反馈控制

摘要

讨论在关节空间中机械手的反馈镇定问题。首先通过构造新的Lyapunov函数，证明了PD控制规律加简单的（期望位置的）重力补偿可以全局镇定刚体机械手系统，改进了需要精确重力补偿的PD控制规律。进一步利用机械手动力学方程中的无源性，提出了具有简单重力补偿的动态输出控制规律。由于期望位置的重力可以离线计算，因而大大地简化了所得控制算法的计算量。%Referring to the point to point control problem, this work present some new control algorithms for robotic manipulators. By employing a novel Lyapunov function, we proved that PD plus simple gravity compensation control laws are enough to globally stabilize robotic manipulators. Following the same approach and passive property in robotic system, we presented output feedback control laws with simple gravity compensation to globally stabilize robotic manipulators. Since simple gravity compensation term, that is, unique gravity term at desired position, can be calculated off-line, our control algorithms reduce substantially the calculation complexity of the controller.