用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器

doi:10.13973/j.cnki.robot.2017.0458

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尹伟, 孙雷, 王萌, 刘景泰. 用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器[J]. 机器人, 2017, 39(4): 458-465.DOI: 10.13973/j.cnki.robot.2017.0458. YIN Wei, SUN Lei, WANG Meng, LIU Jingtai. Amplitude-Saturated Nonlinear State Feedback Position Control for Flexible Joint Robots. ROBOT, 2017, 39(4): 458-465. DOI: 10.13973/j.cnki.robot.2017.0458.

摘要针对柔性关节机器人（FJR）的位置控制问题，设计了一种带摩擦力补偿的幅值饱和非线性状态反馈控制器（ASNSFC）．该方法能够只用电机的位置和速度信息，实现FJR的位置控制，并且该方法能够有效抑制残余抖动．具体而言，首先根据FJR的动力学模型分析了传统PD（比例－微分）控制算法的不足；在此基础上结合人机共融安全方面的需求，设计ASNSFC并通过李亚普诺夫分析方法从理论上证明了闭环系统的稳定性．在自主研制的FJR平台上测试了本文方法的性能，实验结果表明本文方法能够取得更好的控制性能，包括将超调降低到1/10，调节时间降低一半．

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关键词 ：柔性关节机器人, 位置控制, 幅值饱和, 非线性控制, 共融机器人

Abstract：To achieve position control of flexible joint robot (FJR), an amplitude-saturated nonlinear state feedback controller (ASNSFC) is designed along with friction compensation. The controller uses only position and velocity of motor side to achieve position control of FJR, and residual vibration can be well suppressed. Specifically, some deficiencies of traditional PD (proportional-differential) controller are analyzed based on FJR's dynamics model. Subsequently, an ASNSFC is designed according to safety requirements in the field of tri-co (coexisting-cooperative-cognitive) robots, and the stability of the proposed closed-loop system is proven theoretically by Lyapunov stability theory. Performance of the proposed approach is evaluated on a self-built FJR platform, and experiment results illustrate that the proposed scheme can achieve better performance, including one-tenth overshoot and half settling time.

Key words： flexible joint robot position control amplitude-saturated nonlinear control tri-co robot

收稿日期: 2017-03-21 录用日期: 2017-05-24

TP13

基金资助:国家自然科学基金（61573198，61375087）

通讯作者: 孙雷,E-mail:sunl@nankai.edu.cn E-mail: sunl@nankai.edu.cn

作者简介: 尹伟(1991-),男,博士生.研究领域:工业机器人,抖动抑制,位置控制.
孙雷(1977-),男,博士,副教授.研究领域:轨迹规划,机器人系统.
王萌(1990-),男,博士生.研究领域:机器人控制,非线性控制,人机交互.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0458 或 https://robot.sia.cn/CN/Y2017/V39/I4/458

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