PPR型平面欠驱动机械臂的点位控制

刘盛平; 吴立成; 陆震

引用本文:	刘盛平, 吴立成, 陆震.PPR型平面欠驱动机械臂的点位控制[J].控制理论与应用,2007,24(3):435~439.[点击复制]
	LIU Sheng-ping, WU Li-cheng, LU Zhen.Point-to-point control of a planar PPR under-actuated manipulator[J].Control Theory and Technology,2007,24(3):435~439.[点击复制]

PPR型平面欠驱动机械臂的点位控制

Point-to-point control of a planar PPR under-actuated manipulator

摘要点击 1567 全文点击 1517 投稿时间：2005-09-06 修订日期：2006-06-06

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DOI编号 10.7641/j.issn.1000-8152.2007.3.020

2007,24(3):435-439

中文关键词欠驱动平面机械臂反步法点位控制

英文关键词 under-actuated planar manipulator backstepping point-to-point control

基金项目国家自然科学基金资助项目(50375007, 50405002)

作者	单位
刘盛平, 吴立成, 陆震	北京航空航天大学自动化科学与电气工程学院, 北京100083 清华大学计算机科学与技术系智能技术与系统国家重点实验室, 北京100084

中文摘要

研究了PPR型平面欠驱动机械臂(第1个关节和第2个关节是移动关节且是受控的, 第3个关节为被动的转动关节)在水平面运动的点位控制问题. 首先, 通过输入和坐标变换方法, 系统的动力学方程被变换成二阶链式形式.其次, 提出用反步法推导出保证系统指数渐近稳定的控制器. 仿真结果表明, 机械臂能够稳定地从任意初始位置运动到任意给定的位置, 从而证明了控制器设计的有效性.

英文摘要

The point-to-point control problem of a planar PPR under-actuated manipulator is considered in this paper.The PPR under-actuated manipulator with the first and the second prismatic actuated joints and the third passive revolute joint can only move in the horizontal plane. Firstly, the motion equations are transformed into the second order chained form by using input and coordinate transformations method. Secondly, the paper proposed an exponential asymptotic stable controller for the system by integrator backstepping method. Simulation results indicate that the proposed controller can effectively stabilize the manipulator system from any initial position to any desired position.