PUMA机器人非线性控制.docVIP

PUMA 560 robot Dynamics: Main reference: Brian Armstrong, Oussama Khatib Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986 Reference2: Abdel-Razzak MERHEB, “Nonlinear Control Algorithms applied to 3 DOF PUMA Robot”, METU 2008 (2.17) where, : nx1 position vector , : nxn inertia matrix of the manipulator, : nx1 vector of Centrifugal and Coriolis terms : nx1 vector of gravity terms : nx1 vector of torques By writing the velocity dependent term in a different form, all the matrices become functions of only the manipulator position; in this case the dynamic equation is called configuration space equation and has the following form: (2.18) where, : nxn(n-1)/2 matrix of Coriolis torques : nxn matrix of Centrifugal torques : n(n-1)/2x1 vector of joint velocity products given by: : nx1 vector given by: In this context, the configuration space equation presented in [6] will be used. The robot is disassembled and the inertial properties of each link are found. The explicit dynamic model is then obtained with a derivation procedure comprised of several heuristic rules for simulation. To derive the model of the robot arm, Khatib et al. started by generating the kinetic energy matrix and gravity vector symbolic elements by performing the summation of either Lagrange’s or the Gibbs-Alembert formulation; these elements are then simplified by combining inertia constants that multiply common variable expressions. The Coriolis and centrifugal matrix elements are then calculated in terms of partial derivatives of kinetic energy, and then reduced using four relations that hold on the partial derivatives. Finally, the necessary partial derivatives are formed, and the Coriolis and centrifugal matrices are found. A simplification step is then done by combining the inertia constants that multiply the common variable expressions. Recall that only three l