广东工业大学学报 ›› 2022, Vol. 39 ›› Issue (05): 9-20.doi: 10.12052/gdutxb.220073

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驱动器故障影响下柔性机械臂运动控制的进展与展望

孟庆鑫1,2,3, 赖旭芝1,2,3, 闫泽1,2,3, 吴敏1,2,3   

  1. 1. 中国地质大学(武汉) 自动化学院，湖北 武汉 430074;
    2. 复杂系统先进控制与智能自动化湖北省重点实验室，湖北 武汉 430074;
    3. 地球探测智能化技术教育部工程研究中心，湖北 武汉 430074
  • 收稿日期:2022-04-01 出版日期:2022-09-10 发布日期:2022-07-18
  • 通信作者: 赖旭芝(1966–)，女，教授，博士，主要研究方向为智能控制、机器人控制和非线性系统，E-mail：laixz@cug.edu.cn
  • 作者简介:孟庆鑫(1993–)，男，教授，博士，主要研究方向为柔性机械臂控制、机器人控制和欠驱动机械系统
  • 基金资助:
    国家自然科学基金资助项目(61773353)；湖北省自然科学基金创新群体资助项目(2015CFA010)；111计划(B17040)；中国地质大学(武汉)“地大学者”人才岗位科研启动经费资助项目(2022088)

Progress and Prospect of Motion Control for the Flexible Manipulator Under the Influence of Actuator Faults

Meng Qing-xin1,2,3, Lai Xu-zhi1,2,3, Yan Ze1,2,3, Wu Min1,2,3   

  1. 1. School of Automation, China University of Geosciences, Wuhan 430074, China;
    2. Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan 430074, China;
    3. Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan 430074, China
  • Received:2022-04-01 Online:2022-09-10 Published:2022-07-18

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摘要： 随着机械臂技术的不断发展，传统刚性机械臂逐渐难以满足一些新式机械臂系统在轻质化、运动灵活性、大空间范围等方面的需求，如空间机械臂、手术机械臂、人机交互式机械臂等。越来越多的研究人员将目光投向柔性机械臂及其高精度运动控制方法的研究中。针对此类系统，目前已经有一些有效的运动控制方法被提出。然而，当机械臂的某一驱动器发生故障后，常规的控制方法难以保证原有的控制性能，甚至可能导致系统不稳定。研究驱动器故障影响下的柔性机械臂运动控制方法具有重要的理论意义和应用前景。本文首先概述柔性机械臂已有的运动控制方法。然后，从驱动器故障的类型出发，分析并综述驱动器性能故障、驱动器完全损坏故障以及驱动器突发故障对系统的影响及其克服方法的研究现状。最后，本文讨论了当前驱动器故障影响下柔性机械臂运动控制还需进一步解决的关键问题，总结了三点前景方向，对柔性机械臂运动控制的进一步研究具有一定的参考价值。

关键词: 柔性机械臂, 运动控制, 驱动器故障, 完全损坏故障, 突发故障

Abstract: With the continuous development of manipulator technology, the traditional rigid manipulator, such as space manipulator, surgical manipulator and man-machine interactive manipulator, etc. gradually has difficulties in meeting the needs of some new manipulator systems in terms of lightweight, motion flexibility, large space range, etc. More and more researchers pay attention to the research of flexible manipulator and its high-precision motion control. At present, some effective motion control methods have been proposed for flexible manipulator. However, when an actuator of the manipulator fails, it is difficult for conventional control methods to ensure the original control performances and may even lead to system instability. The research on the flexible manipulator motion control under the effect of actuator faults has important theoretical significance and application prospect. Firstly, the existing motion control methods of flexible manipulator are summarized. Then, according to the types of actuator faults, the effect of actuator performance fault, actuator completely damaged fault and sudden actuator fault on the system are analyzed, and the state of art methods that are used to overcome these actuator faults are summarized. Finally, the key problems to be further solved in the motion control of flexible manipulator under the effect of actuator faults are discussed, and three prospect directions summarized, which has reference value for the further research of flexible manipulator motion control.

Key words: flexible manipulator, motion control, actuator faults, completely damaged fault, sudden fault

中图分类号: 

  • TP241.2
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