基于奇异摄动的宏—微机器人控制方法

物理上包含快过程和慢过程的系统可以用奇异摄动方法分析和控制，通过集中微机械手的小参数，提出了将宏－微机器人的动力学模型表示的为标准的奇异摄动模型的方法，这一方法对刚体连杆机械手具有一般性，基于奇异摄动方法设计了宏－微机器人控制器，宏机械手采用计算力短控制，微机械手采用非线性反馈控制，四自由度宏－微机器人的仿真研究证明了方法的有效性。

On Control Strategy of Macro-micro Manipulator System by Using SingularPerturbation Technique

In physics,both fast process and slow process exist in a system,this kind of system can be analyzed and controlled using singular perturbation strategy.This paper analyzes the dynamics of macro-micro manipulator system and proves that it can be transformed as standard singular perturbation form by concentrating the small parameters of micro manipulator,and those strategies have generality for rigid link macro-micro manipulator system.A novel control scheme is presented by using singular perturbation theory.Computed torque and nonlinear feedback are used for slow system and fast system respectively.Simulation results of a macro-micro manipulator system of four degrees verify their effectiveness.