Study on preset performance of cleaning robotic arm with velocity Jacobian control

DONG Yijun; ZHANG Xin

Chinese

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Study on preset performance of cleaning robotic arm with velocity Jacobian control

Research & Approach | 更新时间：2026-06-24

- Study on preset performance of cleaning robotic arm with velocity Jacobian control
- Vol. 45, Issue 6, Pages: 24-28(2026)
- 作者机构：
  
  兰州交通大学自动化与电气工程学院,甘肃,兰州,730070
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP249
- Published：2026
- 稿件说明：
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DONG Yijun, ZHANG Xin. Study on preset performance of cleaning robotic arm with velocity Jacobian control[J]. 2026, 45(6): 24-28.
DOI：

DONG Yijun, ZHANG Xin. Study on preset performance of cleaning robotic arm with velocity Jacobian control[J]. 2026, 45(6): 24-28. DOI：

摘要

针对大面积光伏阵列清洁需求，设计了具有实时性和预设性能的机械臂控制器。首先，采用D-H法建立机械臂空间坐标系和运动学模型；然后，为满足实时性控制要求，结合速度雅可比方法推导出关节角速度与末端执行器速度的解析关系；随后，设计了一种新颖的带有预设性能的滑模控制器，将位姿误差作为输入，并输出各关节的角速度；最后，经Lyapunov函数证明其稳定性。在轨迹规划上采用工业上常用的七段式S型曲线，进行仿真验证。结果表明，设计控制器满足对规划轨迹实时性需求

同时具有很好的跟踪效果。

Abstract

Aiming at the requirements of large-area photovoltaic array cleaning

a robotic arm controller with real-time and preset performance is designed.Firstly

the D-H method is used to establish the spatial coordinate system and kinematic model of the robotic arm.Then

in order to meet the real-time control requirements

the analytical relationship between the joint angular velocities and the end-effector velocities is derived by combining the velocity Jacobian method.Subsequently

a novel sliding-mode controller with preset performance is designed

which takes the pose error as the input and outputs the angular velocity of each joint.Finally

its stability is proved by the Lyapunov function.The seven-segment S-curve

which is commonly used in industry

is used for trajectory planning

and the simulation verification is carried out.The results show that the designed controller meets the real-time requirements of the planned trajectory and has good tracking effect at the same time.

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