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首页> 外文期刊>Mechanical systems and signal processing >Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation
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Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation

机译：具有高强度复合齿轮和实验验证的平面​​人形机器人手臂的鲁棒控制设计

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摘要

Aiming at uncertainties and variable loads of the robot arm, a nonlinear control algorithm is proposed. The design of the proposed control is based on the engineering practice of the planar humanoid robot arm with high strength composite gear. The proposed control, consisting of a PD control portion and a robust control portion, retains the dynamic characteristics of the system and realizes based on error. Theoretical analysis shows that the proposed control can guarantee the uniform boundedness and uniform ultimate bounded-ness. Based on the humanoid robot arm, the experimental validation with the proposed control is carried out and compared with the PID control. Numerical simulations and experimental results show that the proposed control can effectively deal with load changes and parameter uncertainties, and the trajectory tracking accuracy of the robot is improved significantly with the proposed control.
机译：针对机器人臂的不确定性和可变载荷，提出了一种非线性控制算法。所提出的控制的设计基于具有高强度复合齿轮的平面人形机器人臂的工程实践。所提出的控制，由PD控制部分和鲁棒控制部分组成，保留系统的动态特性并基于误差实现。理论分析表明，所提出的控制可以保证均匀的界限和均匀的终极边界。基于人形机器人臂，对所提出的控制进行实验验证，并与PID控制进行比较。数值模拟和实验结果表明，所提出的控制可以有效地处理负载变化和参数不确定性，并且通过所提出的控制显着提高了机器人的轨迹跟踪精度。

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  • 来源
    《Mechanical systems and signal processing》 |2021年第6期|107442.1-107442.12|共12页
  • 作者

    Kang Huang; Yuanjie Xian; Shengchao Zhen; Hao Sun;

  • 作者单位

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China AnHui Key laboratory of Digital Design and Manufacturing Hefei University of Technology Hefei Anhui 230009 PR China;

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China;

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China AnHui Key laboratory of Digital Design and Manufacturing Hefei University of Technology Hefei Anhui 230009 PR China;

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China AnHui Key laboratory of Digital Design and Manufacturing Hefei University of Technology Hefei Anhui 230009 PR China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Robust control; Uncertainty; Lyapunov method; Trajectory tracking; Humanoid robot arm;

    机译：强大的控制;不确定;Lyapunov方法;轨迹跟踪;人形机器人手臂;

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