[1]储婷婷,刘延杰,韩海军.一种基于多轴工业机器人的非线性同步控制方法[J].机械与电子,2015,(08):72-76.
　CHU Tingting,LIU Yanjie,HAN Haijun.A Nonlinear Synchronous Control Method Based on the Multiaxial Industrial Robot[J].Machinery & Electronics,2015,(08):72-76.
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一种基于多轴工业机器人的非线性同步控制方法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年08期
页码:
72-76
栏目:
智能工程
出版日期:
2015-08-26

文章信息/Info

Title:
A Nonlinear Synchronous Control Method Based on the Multiaxial Industrial Robot
文章编号:
1001-2257(2015)08-0072-05
作者:
储婷婷; 刘延杰; 韩海军
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
CHU Tingting; LIU Yanjie; HAN Haijun
(State Key Laboratory of Robotics and System, Harbin Institute of Technology,Harbin 150001,China)
关键词:
偏差耦合;  非线性PD控制律;  虚拟样机;  轨迹精度
Keywords:
deviation coupling;  N-PD controller;  virtual prototype;  trajectory precision
分类号:
TP24
文献标志码:
A
摘要:
为了提高机器人的末端轨迹精度,提出了一种基于六轴工业机器人的包含位置误差和同步误差的非线性PD偏差耦合控制策略。该策略无需考虑机器人精确的动力学模型参数,避免了不精确动力学参数的影响。首先建立了基于IRB120型虚拟样机的动力学模型,再利用Simulink和Adams进行联合仿真验证该策略的合理性。仿真结果表明,利用该方法与基于相同规划轨迹的传统非同步控制的力矩前馈算法和PD同步控制算法进行比较,有效地降低了关节同步误差,提高了末端的轨迹精度。
Abstract:
To improve robot trajectory precision, a nonlinear PD deviation coupling control strategy is designed which contains position error and synchronization error between said six axes. The strategy does not consider an accurate kinetic model for the robot as it is not needed; as a result, the impact of inaccurate kinetic parameters is avoided. First a kinetics model is established based on the IRB120 virtual prototype, then Simulink and Adams are used to conduct a joint simulation and test the appropriateness of the strategy. The simulation shows that, when based on the same planned trajectories, compared with traditional unsynchronized control of torque feedforward algorithm and the PD synchronization control algorithm, this strategy has reduced joint synchronization error. The joint trajectory precision is also improved.

参考文献/References:

[1] Chuang H Y, Chang Y C. A novel contour error compensator for 3-PRPS platform[J]. Journal of Robotic Systems, 2000, 17(5): 273-289.
[2] Borenstein J. Control and kinematic design of multi-degree-of freedom mobile robots with compliant linkage[J]. Robotics and Automation, IEEE Transactions on, 1995, 11(1): 21-35.
[3] Sun D, Mills J K. Adaptive synchronized control for coordination of multirobot assembly tasks[J]. Robotics and Automation, IEEE Transactions on, 2002, 18(4): 498-510.
[4] 张承慧, 石庆升, 程金. 一种基于相邻耦合误差的多电机同步控制策略[J]. 中国电机工程学报, 2007, 27(15): 59-63.
[5] Sun D, Shao X, Feng G. A model-free cross-coupled control for position synchronization of multi-axis motions: theory and experiments[J]. Control Systems Technology, IEEE Transactions on, 2007, 15(2): 306-314.
[6] Zhao D, Li S, Gao F, et al. Robust adaptive terminal sliding mode-based synchronised position control for multiple motion axes systems[J]. IET Control Theory & Applications, 2009, 3(1): 136-150.

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备注/Memo

备注/Memo:
收稿日期:2015-04-08
基金项目:国家“863计划”项目(2013AA040901); 黑龙江省创新专项(YC13D004)
作者简介:储婷婷(1992-),女,安徽马鞍山人,硕士研究生,研究方向为工业机器人控制; 刘延杰(1975-),男,黑龙江哈尔滨人,教授,研究方向为机器人技术与系统; 韩海军(1985-),男,黑龙江哈尔滨人,博士生,研究方向为机器人传感技术与运动控制。
更新日期/Last Update: 2015-08-26