| Electrical Engineering |
|
|
|
|
| Attitude pointing control of manipulator based on quaternion |
HUANG Shui hua, JIANG Pei,WEI Wei, XIANG Ji, PENG Yong gang |
| College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China |
|
|
|
Abstract A general framework for the kinematic control of manipulator with attitude pointing task was presented. Attitude pointing task is keeping the direction of end effector instead of its attitude following the command. The nonsingular unit quaternion was adopted in the manipulator kinematic control. The expression of attitude pointing error using quaternion was introduced, and Lyapunov function was constructed to prove the global stability of proposed method used in the closed loop inverse kinematic control. By using attitude pointing control, the manipulator would get an extra degree of freedom compared to the attitude control. The manipulator would have better dexterity and manipulability. The ability of avoiding joint limits and obstacles was improved. The experiments implemented on a 7 DOF manipulator verified the theoretical results and good performance of attitude pointing control. The comparison with attitude control was given to show the advantages of proposed method．
|
|
Published: 31 March 2016
|
|
|
基于四元数的机械手姿态定向控制
为了有效利用机械手关节自由度,提出机械手的姿态定向控制方法,即保持机械手末端朝向,而允许工具绕某一朝向轴的旋转自运动.四元数法在姿态控制上不存在奇异点,因而采用四元数的方法,实现机械手的姿态定向控制.通过构建姿态定向误差的四元数表述形式,引入姿态定向误差反馈,构造李雅普诺夫函数,证明了其全局稳定性.采用定向控制后,机械手由原先的六维度控制任务转变为五维,从而多出一个冗余度,可以用于提高机械手在避免关节限位、奇异点以及提升可操作度等方面的能力.实验证明,采用该方法能够良好地实现姿态定向误差收敛,验证了理论上的稳定性证明,获得比姿态定位控制更好的运行效果.
|
|
| ［1］ LUH J Y S, WALKER M W, PAUL R P C. Resolved acceleration control of mechanical manipulators ［J］. IEEE Transactions on Automatic Control, 1980, 25(3): 468-474.
［2］LIN S K. Singularity of nonlinear feedback control scheme for robots ［J］. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139.
［3］CRASSIDIS J L, MARKIEY F L. Attitude estimation using modified Rodrigues parameters ［J］. 1996: 71-83．
［4］DIMAROGONAS D V, TSIOTRAS P, KYRIAKOPOULOS K J. Laplacian cooperative attitude control of multiple rigid bodies ［C］∥ IEEE International Symposium on Intelligent Control. ［S. l.］: IEEE, 2006: 3064-3069.
［5］REN W. Distributed cooperative attitude synchronization and tracking for multiple rigid bodies ［J］. IEEE Transactions on Control Systems Technology, 2010, 18(2): 383-392.
［6］LIN S K. Euler parameters in robot Cartesian control ［C］∥ IEEE International Conference on Robotics and Automation. ［S. l.］: IEEE, 1988: 1676-1681．
［7］KREUTZ K. On manipulator control by exact linearization ［J］. IEEE Transactions on Automatic Control, 1989, 34(7): 763-767.
［8］CACCAVALE F, N NATALE C, SICILLIANO B, et al. Resolved acceleration control of robot manipulators: a critical review with experiments ［J］. Robotica, 1998, 16(05): 565-573．
［9］LIN S K. Singularity of nonlinear feedback control scheme for robots ［J］. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139．
［10］LIN S K. Singularity of nonlinear feedback control scheme for robots ［J］. IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(1): 134-139.
［11］WEN J T Y, KREUTZ DELGADO K. The attitude control problem ［J］. IEEE Transactions on Automatic Control, 1991, 36(10): 1148-1162．
［12］LIZARRALDE F, WEN J T. Attitude control without angular velocity measurement: a passivity approach ［J］. IEEE Transactions on Automatic Control, 1996, 41(3): 468-472．
［13］CACCAVALE F, SICILLIANO B. Quaternion based kinematic control of redundant spacecraft/manipulator systems ［C］∥ IEEE International Conference on Robotics and Automation. ［S. l.］: IEEE, 2001: 435-440.
［14］XIAN B, DE UEIROZ M S, DAWSON D, et al. Task space tracking control of robot manipulators via quaternion feedback ［J］. IEEE Transactions on Robotics and Automation, 2004, 20(1): 160-167.
［15］TAYLOR R H. Planning and execution of straight line manipulator trajectories ［J］. IBM Journal of Research and Development, 1979, 23(4): 424-436．
［16］刘松国, 朱世强, 王宣银, 等. 基于四元数和 B 样条的机械手平滑姿态规划器［J］. 浙江大学学报: 工学版, 2009, 43(7): 1192-1196.
LIU Song guo, ZHU Shi qiang, WANG Xuan yin,et al．Smooth orientation planner for manipulators based on quaternion and B spline ［J］. Journal of Zhejiang University: Engineering Science, 2009, 43(7): 1192-1196．
［17］HUANG S, PENG Y, WEI W, et al. Clamping weighted least norm method for the manipulator kinematic control: avoiding joint limits ［C］∥Control Conference (CCC). ［S. l.］: IEEE, 2014: 8309-8314. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
