Considering external disturbance, friction, parameters variation, modeling errors and other issues in flexible joint robot control system, the external disturbance is divided into deterministic part and uncertainty part, and the friction into linear part and nonlinear part, then a new structure robust controller based on the combination of feedforward compensation and fuzzy sliding mode control is proposed. The controller consists of two parts, the part associated with the robot structure itself, deterministic disturbance and the linear part of the friction can be eliminate effectively by computed torque and feedforward compensation. And the fuzzy-sliding mode control of the proposed controller can compensate the external uncertainty disturbance, nonlinear part of friction, parameters variation, modeling error and so on. The experiment results on the platform of HIT four degrees of freedom flexible manipulator show the good position tracking performance and strong anti-interference ability.%针对柔性关节机器人控制系统中存在的扰动力、摩擦力、参数变化以及建模误差等问题,将扰动力分为确定性扰动和不确定性扰动、摩擦力分为线性和非线性部分,并在此基础上提出了一种前馈补偿和模糊滑模相结合的鲁棒控制器.机器人自身结构的相关量、确定性扰动以及摩擦力的线性部分,可以通过控制器的计算力矩和前馈补偿部分进行有效控制,并通过模糊滑模控制器来克服外界的不确定性扰动、摩擦力的非线性部分、参数变化以及建模误差等.在HIT四自由度柔性机械臂上进行了控制器的相关实验,实验结果表明,该控制器具有良好的位置跟踪性能和较强的抗干扰能力.
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