[1]董慧,张华.基于运动微分方程的搬运机器人姿态控制器设计[J].机械与电子,2023,41(03):50-54.
　DONG Hui,ZHANG Hua.Design of Attitude Controller of Handling Robot Based on Motion Differential Equation[J].Machinery & Electronics,2023,41(03):50-54.
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基于运动微分方程的搬运机器人姿态控制器设计()

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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

Title:: Design of Attitude Controller of Handling Robot Based on Motion Differential Equation

Author(s):: DONG Hui ; ZHANG Hua; ( Xi ’an Mingde Institute of Technology , Xi ’an 710124 , China )

Keywords:: differential equation of motion ; handling robot ; attitude controller ; dynamic model ; genetic algorithm

摘要:: 搬运机器人在工作过程受到外界环境干扰的影响,姿态难以平衡,为此设计一种基于运动微分方程的机器人姿态控制器。根据机器人两轴之间的约束关系计算角速度和线速度,构建动力学模型;从运动控制、状态监测等分析控制器功能需求,将硬件部分分为主控芯片、姿态检测和电机驱动等模块,选择适宜的芯片和传感器,满足抗干扰要求;利用运动微分方程确定机器人的可行姿态,形成姿态约束;采用遗传算法选择最优个体,多次迭代后获取最佳姿态控制参数,实现自动控制。实验结果表明,该控制器能够保证机器人搬运过程中具有较强的自平衡能力,在外界环境干扰下,控制器仍能确保机器人姿态快速恢复平稳。

Abstract:: The handling robot is disturbed by the external environment during the working process , and its posture is difficult to balance.For this reason , a robot posture controller based on the differential equation of motion is designed.According to the constraint relationship between the two axes of the robot , the angular velocity and linear velocity are calculated , and the dynamic model is constructed ; the functional requirements of the controller are analyzed from the aspects of motion control and state monitoring , and the hardware part is divided into modules such as main control chip , attitude detection , and motor drive , suitable chips and sensors are selected to meet the anti-interference requirements ; the differential equation of motion is used to determine the feasible attitude of the robot to form attitude constraints ; the genetic algorithm is used to select the optimal individual , and the optimal attitude control parameters after multiple iterations are obtained to achieve automatic control.The experimental results show that the controller can ensure that the robot has a strong self-balancing ability during the handling process , and the controller can still ensure the robot ’s posture to recover quickly and smoothly under the disturbance of the external environment.

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备注/Memo:: 收稿日期: 2022-05-26
作者简介:董慧 ( 1984- ),女,陕西西安人,硕士,讲师,研究方向为计算数学、微分方程和数学建模;张华 ( 1983- ),女,山西临汾人,硕士,讲师,研究方向为应用数学、概率论与数理统计和数学建模。

更新日期/Last Update: 2023-04-07