基于解耦控制的SCARA机器人轨迹跟踪控制器设计.pdfVIP

18 2 © Vol. 18 Suppl.2 2006 8 Journal of System Simulation Aug., 2006 SCARA 1,2 1 1 1 , 1., 110016; 2. , 100039 SCARA SCARA TP24 A 1004-731X (2006) S2-0931-04 Tracking Controller Design of SCARA Robot Based on Decoupling Method 1,2 1 1 1 XIE Dong-mei , QU Dao-kui , XU Fang , HU Bing-de (1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2.Graduate School of Chinese Academy of Sciences, Beijing 100039, China Abstract: The requirement on SCARA robot control is simplified with the nonexistence of gravitational forces term in the dynamics model. In real applications, however, high velocity is frequently required in SCARA robot where coriolis and centrifugal forces become strongly coupled, therefore significantly restrict the performance of the control system. A linear transformation was proposed to decouple the robot system model, and a controller was obtained by using the pole assignment in the decoupled system. This method requires detection of only the position signal, but not the speed or acceleration signals. The presented controller can ensure the global asymptotic stability of the closed-loop system, and attain the desired response performance by assigning the poles of the closed-loop system. Computer simulation results demonstrate the effectiveness of the proposed approach. Key words: SCARA robot; dynamics model; decoupling; po