Journal of South China University of Technology(Natural Science Edition) ›› 2019, Vol. 47 ›› Issue (10): 42-50.doi: 10.12141/j.issn.1000-565X.180499

• Mechanical Engineering • Previous Articles     Next Articles

Fast-Response Anthropomorphic Motion Control Algorithm Without Overshoot of Humanoid Manipulator Based on Prescribed Performance Function

 ZHAO Jing1 WANG Yan1， 2 CHEN Yuqing2    

  1.  1． College of Mechanical Engineering and Applied Electronics Technology，Beijing University of Technology，Beijing 100124， China;
    2． School of Electronic and Communication Engineering，Guiyang University，Guiyang 550005，Guizhou，China
  • Received:2018-11-09 Revised:2019-04-24 Online:2019-10-25 Published:2019-09-01
  • Contact: 王炎( 1982-) ，男，博士生，讲师，主要从事机器人控制及导航研究 E-mail:wywy711@163.com
  • About author:赵京( 1962-) ，男，博士，教授，主要从事机器人运动规划及控制研究
  • Supported by:
     Supported by the National Natural Science Foundation of China( 51975008) 

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Abstract: In order to ensure safety in the process of interaction between people and the manipulator and acquire the fast response without overshoot， the traditional PID control was improved by introducing the prescribed performance control，and a fast humanoid motion control algorithm without overshoot for the manipulator was proposed． Based on PID control， the algorithm utilizes the prescribed performance control to make the convergence speed and overshoot of control errors satisfy the preset conditions，and make the control error converge to a preset relatively small area， so as to control the steady and dynamic performance of the system ( including overshoot and convergence speed， etc. ) ． The analysis results of modeling and simulation of spatial three joints manipulator show that the proposed prescribed performance PID control has the advantage of fast response and no overshoot comparing with the traditional PID control． Thus，the control algorithm suits to anthropomorphic manipulator motion control． Finally，the validity of the algorithm was verified by the prototype experiment of Dobot robot with 4 degrees of freedom． 

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