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Path tracking control of a manipulator considering torque saturation

机译:考虑转矩饱和的机械手路径跟踪控制

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摘要

When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator's dynamics and actuator's torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppressed and the manipulator may deviate from the desired path. In this paper, the author's propose a feedback control method for path tracking which takes the torque saturation into account. Based on the desired path, a coordinate system called path coordinates is defined. The path coordinates are composed of the component along the path and the components normal to the path. The equation of motion is described in terms of the path coordinates. Control of the components normal to the path is given priority in order to keep the motion of the manipulator on the path. Simulations of a two-degree-of-freedom manipulator show the effectiveness of this method.
机译:当考虑到机械手的动力学特性和执行器的扭矩极限而计划沿几何规定路径的机械手的最短时间轨迹时,至少其中一个关节应处于扭矩极限。通过常规的反馈控制方案执行这种轨迹会导致转矩饱和。因此,不能抑制跟踪误差,并且机械手可能偏离期望的路径。在本文中,作者提出了一种将转矩饱和考虑在内的用于路径跟踪的反馈控制方法。基于所需的路径,定义了一个称为路径坐标的坐标系。路径坐标由沿路径的分量和垂直于路径的分量组成。运动方程根据路径坐标进行描述。为了保持机械手在路径上的运动,优先考虑垂直于路径的组件的控制。两自由度机械手的仿真表明了该方法的有效性。

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