摘要
本文针对操作器的工作空间坐标下轨线跟踪,提出了直接利用跟踪误差进行规划和控制的设计方案.这一规划方案基于速度矢量的线性合成原理.同时借助于定义一个偏差超平面,利用滑动模控制的思想,将原非线性规划问题转化为线性规划问题,特别适用于具有冗余自由度的操作器,并且不再要求操作器参数、定位等非常精确;而这一控制方案将规划过程统一于控制器之中,直接对跟踪误差进行控制,可以得到更加优秀的外部品质.
This paper presents a new planning and control strategy for trajectory tracking by using tracking errorin taskoriented coordinateo spacc. The planning scheme is based on the fact that the end effector velocityin the task-oriented coordinates space can be expressed by a linear combination of joints' velocities and al-so relies on sliding mode control scheme. As result, it changes the manipulator's planning problem from annonlinear programming problem into a linear programming problem. It can be adopted for redundantmanipulator as well. This approach integrates planning & control into an unified process using tracking er-ror in task-oriented coordinates space. Such an approach of control can achieve much better dynamic per-formances. It is shown the scheme is robust to parameter's uncertainty and initial positioning.
出处
《机器人》
EI
CSCD
北大核心
1991年第1期17-26,共10页
Robot
基金
国家教委博士点基金
关键词
工作空间
操作器
运动规划
机器人
robot
task-oriented coordinates
sliding mode control
