An active damping control of robot manipulators with oscillatory bases by singular perturbation approach
An active damping control of robot manipulators with oscillatory bases by singular perturbation approach
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DOI：
10.1016/j.jsv.2007.03.008
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发表时间：
2007-07
影响因子：
4.7
通讯作者：
J. Lin;Z. Huang;P. Huang
中科院分区：
文献类型：
--
作者：
J. Lin;Z. Huang;P. Huang
本文研究具有振动基座的机器人主动阻尼控制问题。第一次调查的两个时间尺度的模糊逻辑控制器与振动稳定器，这样的结构已经提出，其中的机器人系统的动态是强烈的影响，由于基础振荡的干扰。在双时标假设下，给出了具有多维振动的多杆机械臂的稳定性及其设计方法。快速子系统控制器将使用PD控制方法阻尼振动基座的振动。因此，慢子系统的模糊逻辑控制器占主导地位的轨迹跟踪。通过引入基于奇异摄动方法的边界层修正，保证了内动力学的稳定性。实验结果表明，该控制模型具有较好的控制效果，如减小超调和抖振的影响，较小的稳态误差，以及较快的收敛速度。本文的研究结果可应用于各种机械系统，如移动的机器人、龙门起重机、水下机器人及其它安装在振动基座上的动力学系统。
This paper deals with active damping control problems of robot manipulators with oscillatory bases. A first investigation of two-time scale fuzzy logic controller with vibration stabilizer for such structures has been proposed, where the dynamics of a robotic system is strongly affected by disturbances due to the base oscillation. Under the assumption of two-time scale, its stability and design procedures are presented for a multiple link manipulator with multiple dimension oscillation. The fast-subsystem controller will damp out the vibration of the oscillatory bases using a PD control method. Hence, the slow-subsystem fuzzy logic controller dominates the trajectory tracking. It can be guaranteed the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations approach. Experimental results have shown that the proposed control model offers several implementation advantages such as reduced effect of overshoot and chattering, smaller steady state error, and a fast convergent rate. The results of this study can be feasible to various mechanical systems, such as mobile robot, gantry cranes, underwater robot, and other dynamic systems mounted on oscillatory bases.