机械臂的动力学特性分析与控制策略
摘 要
机械臂作为现代工业自动化系统的关键组成部分，其动力学特性直接影响作业精度与效率。本文旨在深入分析机械臂的动力学特性并提出有效的控制策略。针对传统控制方法难以兼顾动态响应与稳态精度的问题，研究引入了基于自适应鲁棒控制的新型算法。通过对机械臂关节空间的动力学建模，结合拉格朗日方程建立了精确的动力学模型，并利用实验数据对模型参数进行辨识优化。在此基础上，设计了包含前馈补偿与反馈调节的复合控制器结构，有效解决了非线性摩擦力矩和外部扰动的影响。实验结果表明，所提出的控制策略能够显著提高轨迹跟踪精度，在负载变化条件下仍能保持良好的动态性能。
关键词：机械臂动力学 自适应鲁棒控制 轨迹跟踪精度
Abstract
As a key component of modern industrial automation system, the dynamics of mechanical arm directly affects the precision and efficiency. This paper aims to deeply analyze the dynamic properties of the robotic arm and propose effective control strategies. Aiming solve the problem that traditional control methods are difficult to balance both dynamic response and steady-state accuracy, a new algorithm based on adaptive and robust control is introduced. We model the dynamics of the robotic arm joint space, combined with the Lagrangian equation, and identify the model parameters using experimental data. On this basis, the composite controller structure including feedforward compensation and feedback regulation is designed to solve the effects of nonlinear friction moment and external disturbance. The experimental results show that the proposed control strategy can significantly improve the trajectory tracking accuracy and can still maintain good dynamic performance under the load change conditions.
Keyword:Mechanical Arm Dynamics Adaptive Robust Control Trajectory Tracking Accuracy
目 录
1绪论 1
1.1研究背景与意义 1
1.2国内外研究现状 1
1.3本文研究方法 2
2机械臂动力学建模分析 2
2.1动力学方程建立 2
2.2惯性参数辨识 3
2.3建模误差分析 3
3机械臂运动特性分析 4
3.1运动学正解求解 4
3.2运动学逆解优化 5
3.3轨迹规划方法 5
4机械臂控制策略研究 6
4.1控制系统设计原则 6
4.2 PID控制算法改进 7
4.3自适应控制应用 7
结论 8
参考文献 9
致谢 10
摘 要
机械臂作为现代工业自动化系统的关键组成部分，其动力学特性直接影响作业精度与效率。本文旨在深入分析机械臂的动力学特性并提出有效的控制策略。针对传统控制方法难以兼顾动态响应与稳态精度的问题，研究引入了基于自适应鲁棒控制的新型算法。通过对机械臂关节空间的动力学建模，结合拉格朗日方程建立了精确的动力学模型，并利用实验数据对模型参数进行辨识优化。在此基础上，设计了包含前馈补偿与反馈调节的复合控制器结构，有效解决了非线性摩擦力矩和外部扰动的影响。实验结果表明，所提出的控制策略能够显著提高轨迹跟踪精度，在负载变化条件下仍能保持良好的动态性能。
关键词：机械臂动力学 自适应鲁棒控制 轨迹跟踪精度
Abstract
As a key component of modern industrial automation system, the dynamics of mechanical arm directly affects the precision and efficiency. This paper aims to deeply analyze the dynamic properties of the robotic arm and propose effective control strategies. Aiming solve the problem that traditional control methods are difficult to balance both dynamic response and steady-state accuracy, a new algorithm based on adaptive and robust control is introduced. We model the dynamics of the robotic arm joint space, combined with the Lagrangian equation, and identify the model parameters using experimental data. On this basis, the composite controller structure including feedforward compensation and feedback regulation is designed to solve the effects of nonlinear friction moment and external disturbance. The experimental results show that the proposed control strategy can significantly improve the trajectory tracking accuracy and can still maintain good dynamic performance under the load change conditions.
Keyword:Mechanical Arm Dynamics Adaptive Robust Control Trajectory Tracking Accuracy
目 录
1绪论 1
1.1研究背景与意义 1
1.2国内外研究现状 1
1.3本文研究方法 2
2机械臂动力学建模分析 2
2.1动力学方程建立 2
2.2惯性参数辨识 3
2.3建模误差分析 3
3机械臂运动特性分析 4
3.1运动学正解求解 4
3.2运动学逆解优化 5
3.3轨迹规划方法 5
4机械臂控制策略研究 6
4.1控制系统设计原则 6
4.2 PID控制算法改进 7
4.3自适应控制应用 7
结论 8
参考文献 9
致谢 10
