多轴工业机器人非线性环形耦合补偿同步控制
Nonlinear Ring Coupling Compensation Synchronization Control for Multi-axis Industrial Robot

针对工业机器人多轴系统的同步控制问题，提出了工业机器人一种新型的非线性PD （比例微分）环形耦合同步控制结构，给出了位置误差和同步误差的新型定义方法，给出了基于Lyapunov稳定性理论的工业机器人多轴PD环形耦合同步控制算法，并证明了该算法的渐近稳定性。实验结果表明，采用新型的非线性PD环形耦合同步控制结构的工业机器人多轴PD环形耦合补偿同步控制算法，能够保证同步控制系统的位置误差和同步误差快速收敛，提高了工业机器人控制系统的同步性能及位置跟踪精度。
Because of the synchronous control problem of a multi-axis industrial robot, a new nonlinear PD (proportion-differential) ring coupling synchronous control structure for the industrial robot is proposed, and new definition methods for position error and synchronization error are given. A multi-axis PD coupling control algorithm for the industrial robot based on the Lyapunov stability theory is presented, and the asymptotic stability of the algorithm is proved. The experimental results show that the synchronous control algorithm for the multi-axis PD ring coupling compensation of the industrial robot based on the new nonlinear PD ring coupling synchronous control structure can realize the fast convergence of position error and synchronization error for the synchronous control system and improve the synchronization performance and position tracking accuracy of the industrial robot control system