双机械手协作系统视觉引导动态同步路径跟踪控制

IF 2.4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING
Q. Bai, Pengcheng Li, W. Tian, Jianxin Shen, Bo Li, Junshan Hu
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引用次数: 1

摘要

与单机械手制造单元相比,双机械手协同系统在可重构性和灵活性方面具有更大的优势。然而,协作过程中存在校准误差和多源扰动,导致大规模关联加工特征的加工轨迹精度存在缺陷。针对上述问题,本文针对双机械手协同系统,提出了一种基于位置视觉伺服(PBVS)的实用路径跟踪同步控制算法,该算法可以在执行预先规划的路径的同时实现动态路径校正。此外,由于交叉耦合技术被集成到所提出的基于高度可重复三维视觉测量仪器(VMI)实时反馈的动态路径跟踪控制算法中,因此双机械手的跟踪和同步误差都收敛到零。最后,用李雅普诺夫方法验证了该控制器的稳定性。最后,使用两个工业机械手的实时直线和圆路径跟踪实验结果表明,该方案比独立控制方案能够获得更好的同步跟踪精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Vision guided dynamic synchronous path tracking control of dual manipulator cooperative system
Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm is proposed based on position based visual servoing (PBVS) in this paper for the dual manipulator cooperative system, the proposed dynamic cross-coupled sliding mode controller (DCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. Moreover, since the cross-coupled technology is integrated into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), both the tracking and synchronous errors of the dual manipulators converge to zero. Finally, the stability of the proposed controller has been verified by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate that the proposed scheme can achieve better synchronous tracking accuracy than the independent control scheme.
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来源期刊
CiteScore
6.80
自引率
20.00%
发文量
126
审稿时长
12 months
期刊介绍: Areas of interest including, but not limited to: Additive manufacturing; Advanced materials and processing; Assembly; Biomedical manufacturing; Bulk deformation processes (e.g., extrusion, forging, wire drawing, etc.); CAD/CAM/CAE; Computer-integrated manufacturing; Control and automation; Cyber-physical systems in manufacturing; Data science-enhanced manufacturing; Design for manufacturing; Electrical and electrochemical machining; Grinding and abrasive processes; Injection molding and other polymer fabrication processes; Inspection and quality control; Laser processes; Machine tool dynamics; Machining processes; Materials handling; Metrology; Micro- and nano-machining and processing; Modeling and simulation; Nontraditional manufacturing processes; Plant engineering and maintenance; Powder processing; Precision and ultra-precision machining; Process engineering; Process planning; Production systems optimization; Rapid prototyping and solid freeform fabrication; Robotics and flexible tooling; Sensing, monitoring, and diagnostics; Sheet and tube metal forming; Sustainable manufacturing; Tribology in manufacturing; Welding and joining
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