【摘要】 煤矿液压支架巡检机器人在高密度、狭小的煤矿空间内运行时，受到路径奇异点突变的影响，无法稳定地跟踪预定的巡检路径，容易出现轨迹控制效果差的问题.为此，提出基于误差二阶导数的煤矿液压支架巡检机器人行动轨迹控制方法.建立巡检机器人动力学模型，计算形心坐标位置差，获取机器人轨迹跟踪时关节实际阻抗值.设计一种与实际阻抗值相适应的非奇异终端滑模控制器，根据误差二阶导数获取机器人滑模阻抗控制律，利用设计的控制器使机器人运行过程中能够实时检测奇异点突变状态，使机器人运行时的轨迹路线与期望轨迹相一致.实验结果表明，滑模阻抗控制方法的控制误差和控制时间始终低于0.008%和28 ms,具有良好的轨迹跟踪控制效果.更多还原

【Abstract】 When the coal mine hydraulic support inspection robot operates in high-density and narrow coal mine spaces, it is affected by the sudden change of path singular points and cannot stably track the predetermined inspection path, which easily leads to poor trajectory control effect. Therefore, a motion trajectory control method for coal mine hydraulic support inspection robot based on the second derivative of the error is proposed. The established dynamic model for the inspection robot is used to calculate the position difference of the centroid coordinates and obtain the actual impedance value of the joints during the robot’s trajectory tracking. A non-singular terminal sliding mode controller that is adapted to the actual impedance value is designed. The sliding mode impedance control law of the robot is obtained based on the second derivative of the error. The designed controller is used to enable the real-time detection of the singular point mutation during the operation of the robot, so that the trajectory path of the robot during operation is consistent with the expected trajectory. The experimental results show that the control error and control time of the sliding mode impedance control method are always below 0. 008% and 28 ms, and it has a good trajectory tracking control effect.更多还原