基于无源性理论的柔性关节控制器设计

doi:10.3724/SP.J.1218.2013.00023

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引用本文:
张奇, 谢宗武, 刘宏, 蔡鹤皋. 基于无源性理论的柔性关节控制器设计[J]. 机器人, 2013, 35(1): 23-31.DOI: 10.3724/SP.J.1218.2013.00023. ZHANG Qi, XIE Zongwu, LIU Hong, CAI Hegao. Flexible Joint Controller Design Based on Passivity Theory. ROBOT, 2013, 35(1): 23-31. DOI: 10.3724/SP.J.1218.2013.00023.

摘要

为了提高柔性关节机器人的轨迹跟踪精度和抖动抑制能力，设计了一种基于无源性理论的柔性关节控制器．通过Simulink仿真验证和简化了该控制器，使其更加适合于多自由度机器人的控制．用于实验的7自由度机器人采用DSP+FPGA结构，数字信号处理器（DSP）和现场可编程逻辑门阵列（FPGA）分别实现非线性部分和线性部分计算，避免了由于自由度的增加引起的关节控制器性能变化．实验结果表明，与传统的PD控制相比，基于无源性理论的柔性关节控制器具有力矩波动小以及抖动抑制快、稳态精度高等优点．

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	张奇
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关键词 ：柔性关节, 无源性, 现场可编程逻辑门阵列, 抖动抑制

Abstract：

In order to improve the trajectory tracking precision and the vibration suppression capability of flexible joint robots, a passivity theory based flexible joint controller is proposed. The controller is verified and simplified in Simulink environment in order to make it more suitable for the robot with multiple degrees of freedom (DoF). Experiments are conducted on a 7-DoF robot with DSP+FPGAs structure, and the nonlinear and linear parts are calculatd in digital signal processor (DSP) and field programmable gate array (FPGA) separately, which avoids the performance change of the joint controller due to the increasing DoF. The experiment results show that comparing with the PD (proportional-derivative) controller, the proposed controller has the advantages of lower torque fluctuation, faster vibration suppression and higher static accuracy.

Key words： flexible joint passivity FPGA (field programmable gate array) vibration suppression

收稿日期: 2012-06-21 录用日期: 2012-12-20

TP24

基金资助:

国家自然科学基金资助项目（51175107）；国家863计划资助项目（2008AA04Z602）

通讯作者: 谢宗武 E-mail: xie_20011@yahoo.com.cn

作者简介: 张奇（1986—），男，博士生．研究领域：冗余自由度机器人控制与规划，伺服控制系统．
谢宗武（1973—），男，博士，副教授．研究领域：机电一体化技术，空间机器人等．
刘宏（1966—），男，博士，教授．研究领域：空间机器人和空间遥操作，仿人机器人灵巧手．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00023 或 https://robot.sia.cn/CN/Y2013/V35/I1/23

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