• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (9): 122-127.

• 论文 • 上一篇    下一篇

空间刚性冗余度机器人混沌运动控制的延迟反馈控制法

李立;张登材   

  1. 西南交通大学机械工程学院;中国电子科技集团公司第二十九研究所第五研究室
  • 发布日期:2005-09-15

DELAYED FEEDBACK CONTROL METHOD FOR CHAOTIC CONTROL OF SPATIAL RIGID REDUNDANT ROBOT

Li Li;Zhang Dengcai   

  1. School of Mechanical Engineering, Southwest Jiaotong University The 5th Department, the 29th Research Institute of China Electronics Technology Group Corporation
  • Published:2005-09-15

摘要: 提出了消除空间刚性冗余度机器人关节运动轨迹漂移混沌现象的延迟反馈控制法。给出的一个空间4R刚性冗余度机器人在基于雅可比矩阵的伪逆方法使其末端重复跟踪工作空间内的一条封闭路径时的混沌控制的算例证明了所提方法的有效性。研究表明,在适当的参数下,系统的混沌运动可以转变为规则的周期运动。研究为解决冗余度机器人的伪逆控制非重复性问题开辟了新的有效途径。

关键词: 混沌控制, 空间刚性冗余度机器人, 逆运动学, 延迟反馈控制法

Abstract: The delayed feedback control method to eliminate the undesired chaotic joint motion, also called the drift, of spatial rigid redundant robot is proposed. An example of the chaotic control of a spatial 4R rigid redundant robot based on Jacobian’s pseudo-inverse when the end-effector traces a closed-path repeatedly in the workspace is given to demonstrate the application and the validity of the proposed method. It is shown that the chaotic motion can be turned into regular motion with some appropriate parameters. And thus the repeatability problem of redundant robot under the pseudo- inverse control is solved efficiently from a new perspective.

Key words: Chaotic control, Delayed feedback control method, Inverse kinematics, Spatial rigid redundant robot

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