作业空间中刚体机器人的输出反馈控制

研究了作业空间中的机器人调节问题。采用 Cayley- Rodrigues参数及修正的 Rodrigues参数来描述机器人末端执行器的姿态 ,提出了两种控制律 ,一种为状态反馈控制律 ,另一种为不需测量广义速度的输出反馈控制律。用Rodrigues参数或修正的 Rodrigues参数与广义速度通过反馈线性化方法构造了一种渐近稳定的状态反馈控制律。在此基础上 ,探讨了机器人控制系统的一种新的无源性 ,并利用这种新的无源性设计了无需测量广义速度的动态输出反馈控制律。目前的动态输出反馈控制器都采用 7阶无源网络 ,而本文的控制器是由 6阶平方线性系统实现的。

Output Feedback Control of a Rigid Robot in Task Space

This paper is devoted to the problem of robot regulation in task space. We employ the Cayley Rodrigues parameters or the modified Rodrigues parameters to parameterize the end effector attitude space of the robot. Two classes of control laws, one with state feedback and the other without the generalized velocity, are presented.The first control law was formed by the Rodrigues parameters or the modified Rodrigues parameters and thegeneralized velocity using the feedback nonlinearization approach. The new passivity properties of the robot manipulator in task space are exploited. Dynamic feedback controllers without the generalized velocity measurement are designed by using such passivity. In contrast to current dynamic output feedback schemes which use a seventh order passive network, our dynamic controller is realized by a sixth order square linear system.