基于重力补偿的机械臂PD控制系统研究

摘要

According to the complexity of mathematical description and the difficulty of kinematics analysis,the robot dual joint manipulator dynamic model was built applying inverse dynamics method and the gravity item of each joint torque in robot arm was made up.The PD control algorithm with accruate estimation of gravity torque was applied to realize manipulator trajectory tracking accurately.The pointing control of the mechanical arm is achieved and the system has such advantages as no over adjusting and small initial torque.Simulation experiment results agree with the theoretical analysis and it shows that the control method is effective.%针对多关节机器人机械臂数学描述复杂、运动学分析困难的问题，采用逆动力学方法建立机器人双关节机械臂的动力学模型，并对重力项进行补偿，采用对重力矩准确估值的PD控制算法实现机械臂运动轨迹准确跟踪，能够满足机械臂定点控制的要求，具有无超调、初始力矩小等特点，通过仿真实验表明与理论分析结果一致，表明此控制方法的有效性。