驱动器饱和下多自由度机械臂同步控制方法

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中图分类号：TP241 文献标志码：A 文章编号：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

多自由度机械臂是一个复杂的系统，具有极强的非线性和耦合性。（剩余5820字）