移动机械臂的输出跟踪控制

移动机械臂通常由移动机器人和装在移动机器人上的机械臂组成。它既具有移动机器人的可移动性又具有机械臂的操作灵活性,有极高的实际应用价值。本文针对由二轮驱动的移动平台和二连杆机械臂组成的移动机械臂的输出跟踪问题,利用滑模控制原理为其设计了动态滑模控制器。首先给出了移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为4个低阶子系统,并给出了其输出跟踪的动态滑模控制器的设计方法。仿真实验表明,所设计的动态滑模控制器不仅能很好地跟踪给定轨迹,而且能有效地削弱滑模控制系统的抖振。

Output Tracking Control of a Mobile Manipulator

A mobile manipulator consists of a mobile robot and a manipulator arm mounted on the mobile robot. The mobile manipulator possesses not only the mobility of a mobile robot but also the flexible ma- nipulation of a manipulator arm, thus having wide application in practice. A dynamic sliding mode controller is devised to achieve output tracking of the mobile manipulator that consists of a mobile platform which has two driving wheels and a two-link manipulator arm. A simplified dynamic model is developed for the mobile manipulator. The manipulator is then decomposed into four low-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the simplified model. The design method for the dynamic sliding mode controller is also presented for the output tracking of a mobile manipulator. Numerical simulation results verify that the dynamic sliding mode controller can not only track its given trajectory but also considerably weaken its chattering.