基于Udwadia-Kalaba方法的并联机器人鲁棒伺服约束控制
摘要
For the trajectory tracking control problems of 2-DOF redundant drive parallel robots, a robust servo control method based on the Udwadia-Kalaba equation was proposed. Under the influences of load, external interference and manufacturing errors, it is impossible to obtain the accurate and complete motion model for the robot, and the control performance of the robot is poor. To solve the impacts of this type of uncertainty, a robust control method was proposed to enable the system to accurately track the ideal trajectory, and ensure the uniform boundedness and the uniform ultimate boundedness of the overall system. In addition, the Udwadia-Kalaba equation was used to solve the constraint force required by the system to meet the ideal constraint in the control process. The Udwadia-Kalaba equation does not require auxiliary variables such as Lagrangian multipliers or pseudo-generalized velocities, and can handle both complete and incomplete constraints, with analytical solutions of constraint forces satisfying the trajectory obtained. The stability of this robust control method was proved theoretically with the Lyapunov function. Simulation experiments show that, the proposed robust control method can achieve high-precision tracking control along a given trajectory under non-ideal conditions.