工业机器人的轨迹规划与控制算法

IF 0.7 Q4 ENGINEERING, MECHANICAL
Jing Liu
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引用次数: 0

摘要

随着工业机器人任务的日益复杂,机械手轨迹规划和跟踪控制的难度也逐渐增加。为了最大限度地减少机械手运动过程中的振动,提高规划精度,研究了五次多项式与非均匀B样条插值相结合的关节空间规划方法。轨迹跟踪系统容易受到摩擦非线性和参数的影响。为此,设计了一种基于模糊神经网络的JS轨迹跟踪控制器。通过仿真实验,所研究的规划方法得到的曲线更平滑,规划误差最小。最大位置误差为0.09 rad,速度误差不大于0.1 rad/s。不同参数下的控制器性能测试结果表明,FNN中的W^、c^、κ^参数可以实时调整,该值不会影响控制器的性能。不同关节的轨迹误差波动范围在±0.2×10-5rad以内,表明所研究的AFNNC控制器性能较好。当负载突然变化时,其响应时间最短,鲁棒性更好。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Trajectory planning and control algorithm of industrial robot manipulator
As the industrial robot task becomes more complex, the difficulty of trajectory planning and tracking control of manipulator is gradually increasing. To minimize the vibration during the manipulator motion and improve the planning accuracy, the method of quintic polynomial combined with non-uniform B-spline interpolation is studied for joint space (JS) planning. The trajectory tracking system is easily affected by friction nonlinearity and parameters. So a JS trajectory tracking controller based on based on fuzzy neural network (FNN) is designed. Through simulation experiments, the curve obtained by the planning method studied is smoother and the planning error is minimum. The maximum position error is 0.09 rad, and the speed error is not more than 0.1 rad/s. The controller performance test results under different parameters show that the W^, c^, κ^ parameter in FNN can be adjusted in real time, and the value will not affect the performance of the controller. The fluctuation range of trajectory error of different joints is within ±0.2×10-5rad, which indicates that the performance of AFNNC controller studied is better. And its response time is the shortest and its robustness is better when the load changes suddenly.
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来源期刊
Journal of Vibroengineering
Journal of Vibroengineering 工程技术-工程:机械
CiteScore
1.70
自引率
0.00%
发文量
97
审稿时长
4.5 months
期刊介绍: Journal of VIBROENGINEERING (JVE) ISSN 1392-8716 is a prestigious peer reviewed International Journal specializing in theoretical and practical aspects of Vibration Engineering. It is indexed in ESCI and other major databases. Published every 1.5 months (8 times yearly), the journal attracts attention from the International Engineering Community.
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