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Speed-Up of Robot-Manipulators Using Sliding Mode Control

使用滑模控制加速机器人操纵器

基本信息

批准号：
60550178
负责人：
WATANABE Tohru
金额：
$ 1.41万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1985
资助国家：
日本
起止时间：
1985 至 1986
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-60550178/
关键词：
Robotics Manipulator Sliding mode Relay control VSS PWM Multiprocessor 制御

项目摘要

In this research, a servo-system using sliding mode and its application to robot manipulators is investigated. Results are as follows:(1) A method for generating the sliding mode by a relay with a small step is proposed in order to aboid the affection of chattering. The relay generates stepwise torque around the "equivalent control" to cover a wide range of output torques. The proposed method is used with the continuous control method of sliding mode in the boundary layer.(2) An algorithm for motor control to determine the control mode and the duty rate of PWM by taking the effect of the voltage generated by motor rotation into consideration is proposed. The energy consumption of the motor is saved by the algorithm.(3) A method to adjust the acceleration and the velocity of the desired hand position so as to keep the maximum duty rate within a range and to protect the sliding mode from its deviation.(4) The proposed methods are applied to a manipulator with two joints and investigated by computer simulation. It is verified by this simulation that the path accuracy is significantly improved, the system is robust against the change of the mass of the hand, the acceleration and deceleration control work well and are effective for the improvement of the computing time.(5) Methods to decrease the computing time for robot control using a multi-microprocessor are shown. The multiprocessor is applied to the inverse kinematics problem of a six-joint manipulator. The division of the inverse kinematics calculation into scalar level tasks and the re-combination of the tasks are discussed. It is verified by experiments that the computing time of the inverse kinematics of the elbow manipulator is decreased from 19.57 ms for one CPU to 3.07 ms with the proposed multi-microprocessor. The sliding mode control using the solution of the inverse kinematics is performed on the six-joint manipulator. It is shown that the sliding mode control is available for the six-joint manipulators.

本文研究了滑模伺服系统及其在机械臂中的应用。结果表明：(1)为避免抖振的影响，提出了一种小步长继电器产生滑模的方法。继电器在“等效控制”周围产生逐步转矩，以覆盖广泛的输出转矩范围。将该方法与边界层滑模连续控制方法结合使用。(2)提出了一种考虑电机旋转产生的电压影响，确定PWM控制方式和占空率的电机控制算法。该算法节省了电机的能耗。(3)一种调节所需手位置的加速度和速度以使最大占空率保持在一定范围内并保护滑模不发生偏差的方法。(4)将所提方法应用于具有两个关节的机械臂，并进行计算机仿真研究。仿真结果表明，该系统对手的质量变化具有较强的鲁棒性，路径精度明显提高，加减速控制效果良好，有效地缩短了计算时间。(5)给出了利用多微处理器减少机器人控制计算时间的方法。将多处理器应用于六关节机械臂的运动学逆问题。讨论了将运动学逆解计算分解为标量级任务和任务的重组。实验结果表明，采用多微处理器，肘关节机械手的运动学逆运算时间由单CPU的19.57 ms缩短到3.07 ms。利用运动学逆解对六关节机械臂进行滑模控制。结果表明，滑模控制对六关节机械臂是可行的。