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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >Robust trajectories following control of a 2-link robot manipulator via coordinate transformation for manufacturing applications
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Robust trajectories following control of a 2-link robot manipulator via coordinate transformation for manufacturing applications

机译：通过制造过程中的坐标变换对2链接机器人操纵器进行控制后的稳健轨迹

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摘要

A common idea concerning trajectory control of robot manipulators is to tackle the motion of the endeffector. According to traditional trajectory designs, a prescribed profile in a work space is first decomposed into independent joint positions such that the success in a contouring task lies with good tracking capability of individual joints. To advance trajectory control precision without relying on high tracking performance, a contour control strategy for a robot manipulator is presented in this paper. Different from the traditional concept of trajectory control, a contour following control strategy is developed via a coordinate transformation scheme. The main advantage of the proposed control architecture is that the final contouring accuracy will not be degraded in case the tracking performance of the robot manipulator is not good enough. Moreover, using a concept of variable structure control theory, a smooth robust control algorithm is realized in the form of proportional control plus an integration term. The robustness of the control algorithm is also demonstrated. A number of experiments are conducted to demonstrate the advantage of the trajectories following control framework and validate the feasibility of the proposed controller.
机译：关于机器人操纵器的轨迹控制的一个普遍想法是解决末端执行器的运动。根据传统的轨迹设计，首先将工作空间中的指定轮廓分解为独立的关节位置，以便轮廓任务的成功在于对各个关节的良好跟踪能力。为了提高轨迹控制精度而不依赖于高跟踪性能，本文提出了一种机器人操纵器的轮廓控制策略。与传统的轨迹控制概念不同，通过坐标转换方案开发了轮廓跟随控制策略。所提出的控制体系结构的主要优点是，在机器人操纵器的跟踪性能不够好的情况下，最终轮廓精度不会降低。此外，使用变结构控制理论的概念，以比例控制加积分项的形式实现了一种平滑的鲁棒控制算法。还演示了控制算法的鲁棒性。进行了大量实验，以证明遵循控制框架的轨迹的优势，并验证了所提出控制器的可行性。

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