不确定与扰动环境下工业机器人控制的高保真虚拟模型——基于UR5e的比较研究

IF 3.6 3区 计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Heni Belgacem;Mohammad Abuabiah;Inés Chihi
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引用次数: 0

摘要

工业机械臂在不确定性条件下的鲁棒控制是实现可靠自动化的关键。本工作提出了UR5e机器人机械手建模、控制和性能评估的综合框架。建立了高保真的运动学和动力学模型,并根据实验数据进行了验证,以创建逼真的虚拟环境。实现了计算转矩控制、比例积分导数控制、滑模控制和非线性模型预测控制四种控制策略,并进行了系统比较。比较考虑了跟踪精度、鲁棒性、能源效率和标称条件下的计算需求,以及存在外部干扰、传感器噪声和模型不确定性的情况。滑模控制在干扰下表现出一致的跟踪,非线性模型预测控制在平滑运动曲线下实现了降低能耗,计算扭矩控制提供了平衡的精度和响应,比例积分导数在低干扰条件下表现有效。该方法为机器人控制策略的基准测试提供了一个经过验证的仿真平台,并支持工业应用中数据驱动的控制器选择。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
High-Fidelity Virtual Model for Industrial Robot Control Under Uncertain and Disturbed Scenarios: A Comparative Study on the UR5e
Robust control of industrial manipulators under real-world uncertainties is critical for reliable automation. This work presents a comprehensive framework for modeling, control, and performance evaluation of the UR5e robotic manipulator. High-fidelity kinematic and dynamic models are developed and validated against experimental data to create a realistic virtual environment. Four control strategies, including Computed Torque Control, Proportional Integral Derivative, Sliding Mode Control, and Nonlinear Model Predictive Control are implemented and systematically compared. The comparison considers tracking accuracy, robustness, energy efficiency, and computational demand under nominal conditions as well as in the presence of external disturbances, sensor noise, and model uncertainties. Sliding Mode Control demonstrates consistent tracking under disturbances, Nonlinear Model Predictive Control achieves reduced energy consumption with smooth motion profiles, Computed Torque Control provides balanced accuracy and response, and Proportional Integral Derivative performs effectively under low-disturbance conditions. The methodology provides a validated simulation platform for benchmarking robotic control strategies and supports data-driven selection of controllers for industrial applications.
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来源期刊
IEEE Access
IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC
CiteScore
9.80
自引率
7.70%
发文量
6673
审稿时长
6 weeks
期刊介绍: IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.
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