伸缩因子优化机械臂轨迹跟踪控制的误差分析

王宏涛; 蒋汶松; 蒋清泽; 张强; 戴宁

doi:10.3969/j.issn.1000-1158.2020.10.01

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计量学报 ›› 2020, Vol. 41 ›› Issue (10) : 1177-1183. DOI: 10.3969/j.issn.1000-1158.2020.10.01

几何量计量

伸缩因子优化机械臂轨迹跟踪控制的误差分析

王宏涛,蒋汶松,蒋清泽,张强,戴宁

作者信息 +

Error Analysis of Optimizing Manipulator Trajectory Tracking Controller Based on Contraction-expansion Factor

WANG Hong-tao,JIANG Wen-song,JIANG Qing-ze,ZHANG Qiang,DAI Ning

Author information +

文章历史 +

摘要

提出了一种通过伸缩因子在线调节论域来优化机械臂轨迹跟踪控制的变论域模糊控制方法。首先设计了一种与关节角度偏差和偏差变化率动态加权相关的比例-指数混合型伸缩因子;然后,运用时间最优轨迹规划算法获取机械臂笛卡尔空间的期望关节轨迹;最后,基于所设计的变论域模糊控制器实现了一种三关节机械臂轨迹跟踪控制仿真,并分析了轨迹跟踪误差。仿真结果表明: 所设计的基于比例-指数混合型伸缩因子的变论域模糊控制器应用于机械臂轨迹跟踪的控制效果良好,具有响应速度快、无超调、稳态误差小的优点。

Abstract

A variable universe fuzzy controller whose universe can be adjusted by contraction-expansion factor in real time is proposed to optimize the trajectory tracking effect of the manipulator. Firstly, a scale-exponential hybrid contraction-expansion factor whose functional form is related to the dynamic weight of joint-angle deviation and joint-deviation variation is designed. Secondly, the desired joint-trajectory in cartesian space is calculated by using the time-optimal path-following algorithms. Finally, the simulation of the trajectory tracking control of a three-joint manipulator is realized by using the designed variable universe fuzzy controller, and the trajectory tracking error is analyzed further. The simulation results show that the designed variable universe fuzzy controller using scale-exponential hybrid contraction-expansion factor has the advantage of better trajectory tracking control effect, faster response speed, smaller steady-state error and no overshoot.

导出引用

王宏涛,蒋汶松,蒋清泽,张强,戴宁. 伸缩因子优化机械臂轨迹跟踪控制的误差分析[J]. 计量学报. 2020, 41(10): 1177-1183 https://doi.org/10.3969/j.issn.1000-1158.2020.10.01

WANG Hong-tao,JIANG Wen-song,JIANG Qing-ze,ZHANG Qiang,DAI Ning. Error Analysis of Optimizing Manipulator Trajectory Tracking Controller Based on Contraction-expansion Factor[J]. Acta Metrologica Sinica. 2020, 41(10): 1177-1183 https://doi.org/10.3969/j.issn.1000-1158.2020.10.01

中图分类号： TB92

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