驅(qū)動器飽和下多自由度機(jī)械臂同步控制方法

打開文本圖片集

中圖分類號：TP241 文獻(xiàn)標(biāo)志碼：A 文章編號：1671-5276（2025）03-0211-05

Abstract：Inordertosolvetheproblemofasynchronouscontrolofmultidegreeoffreedomroboticarmscausedbydriver saturationand improvecontrolaccuracyandconvergencespeed，asynchronizationcontrolmethodformultidegreeoffreedom roboticarmsunderdriversaturationisproposed.Byestablishingthekinematicequationsofamultidegreeoffreedomroboticarm frombothforwardandreverseperspectives，andmatchingthemwiththedatainthedriver，theactualsaturationstateof each roboticarmdriverandthedegreeofmatchingwiththecontrolinstructionsaredeterminedafterobtainingthedemandinstructions oftheroboticarmthroughtheCANbusmonitoringdevice.Afixedtime sliding modecontrolerisbuilt，functions toeliminate driversaturationstateandactualcontrol instructionerrorsareadded，and precisesynchronizationcontrolof multidegreeof freedom roboticarms is achieved.Theexperimental testresultsshowthatthe proposed methodcan achieve high controlaccuracy andfast convergence speed，and can controltheoperation byeach robotic arm along the expected synchronous trajectory.

Keywords：driver saturation；CANbus data fusion；synchronous control；multi degree of freedomrobotic arms

0 引言

多自由度機(jī)械臂是一個復(fù)雜的系統(tǒng)，具有極強(qiáng)的非線性和耦合性。（剩余5820字）