基于混合摩擦表达的机器人模块化关节动力学建模与仿真
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摘要
摩擦是影响机器人关节动力学建模精度和控制精度的主要因素之一。针对传统单一摩擦模型无法准确描述关节复杂摩擦的问题,以设计的机器人模块化关节为对象,在分析机器人关节运动特性的基础上,建立了以相对速度为切换条件,静摩擦、库仑摩擦和Stribeck摩擦混合表达的关节混合摩擦模型来描述复杂的关节摩擦问题,并以此为基础建立了整个机器人模块化柔性关节的摩擦动力学模型。为了验证模型有效性,用MATLAB编写S-Function函数实现动力学模型并进行仿真,结果表明所建混合摩擦模型能够更好地反映关节内多种摩擦状态,提高了建模和控制精度。
Friction is one of the main factors that affect the robot's joint dynamics modeling and control accuracy.Aiming at the problem that the traditional single friction model can't accurately describe the complex friction of the joint,it takes the designed robot modular joint as the research object based on the kinematic characteristics of the robot joint and a hybrid friction model,builds the Coulomb friction and the Stribeck friction for complex friction of the joint,defines the velocity as the switching condition of the mixed friction model,uses mixed friction model with speed as switching condition.It introduces the model into the kinematics modeling of the entire joint to establish a joint dynamic model with flexibility and friction,simulates the joint dynamics model in MATLAB.The results show that the built mixed friction model can better reflect the various friction phenomenon the joint,and improve the accuracy compared with the traditional single friction model.
Friction is one of the main factors that affect the robot's joint dynamics modeling and control accuracy.Aiming at the problem that the traditional single friction model can't accurately describe the complex friction of the joint,it takes the designed robot modular joint as the research object based on the kinematic characteristics of the robot joint and a hybrid friction model,builds the Coulomb friction and the Stribeck friction for complex friction of the joint,defines the velocity as the switching condition of the mixed friction model,uses mixed friction model with speed as switching condition.It introduces the model into the kinematics modeling of the entire joint to establish a joint dynamic model with flexibility and friction,simulates the joint dynamics model in MATLAB.The results show that the built mixed friction model can better reflect the various friction phenomenon the joint,and improve the accuracy compared with the traditional single friction model.
引文
[1]张丹丹.柔性关节机器人动力学建模及控制[D].南京:南京理工大学,2017.
[2]ALINALBU-SCHFFER,Gerd Hirzinger.A globally stable state feedback controller for flexible joint robots[J].Advanced Robotics,2001,15(8):799-814.
[3]席万强,陈柏,丁力,等.考虑非线性摩擦模型的机器人动力学参数辨识[J].农业机械学报,2017,48(2):393-399.
[4]贺莹,梅江广,方志炜,等.一种机器人单关节伺服系统的能耗研究[J].制造技术与机床,2017(9):84-90.
[5]倪风雷,刘宏,介党阳.基于速度观测器的GMS摩擦模型辨识与补偿[J].电机与控制学报,2012,16(11):70-75.
[6]杜志江,肖永强,董为.含有摩擦间隙迟滞的机械臂关节建模方法[J].机器人,2011,33(5):539-545.
[7]SPONG M W.Review article:modeling and control of elastic joint robots[J].Mathematical&Computer Modelling,1989,12(7):912.
[8]丁千,翟红梅.机械系统摩擦动力学研究进展[J].力学进展,2013,43(1):112-131.
[9]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2003.
[2]ALINALBU-SCHFFER,Gerd Hirzinger.A globally stable state feedback controller for flexible joint robots[J].Advanced Robotics,2001,15(8):799-814.
[3]席万强,陈柏,丁力,等.考虑非线性摩擦模型的机器人动力学参数辨识[J].农业机械学报,2017,48(2):393-399.
[4]贺莹,梅江广,方志炜,等.一种机器人单关节伺服系统的能耗研究[J].制造技术与机床,2017(9):84-90.
[5]倪风雷,刘宏,介党阳.基于速度观测器的GMS摩擦模型辨识与补偿[J].电机与控制学报,2012,16(11):70-75.
[6]杜志江,肖永强,董为.含有摩擦间隙迟滞的机械臂关节建模方法[J].机器人,2011,33(5):539-545.
[7]SPONG M W.Review article:modeling and control of elastic joint robots[J].Mathematical&Computer Modelling,1989,12(7):912.
[8]丁千,翟红梅.机械系统摩擦动力学研究进展[J].力学进展,2013,43(1):112-131.
[9]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2003.