自动化控制下机械手臂运动轨迹研究

Study on the trajectory of robot arm under automatic control

摘要:

对机械手臂运动轨迹进行优化控制,能改善机械手臂的自动控制性能。为了提高机械臂的控制稳健性,提出一种基于变结构模糊PID控制的机械手臂运动轨迹优化控制模型。首先采用末端效应逆运动学模型构建机械手臂的运动规划约束参量数学模型,采用七自由度运动空间重构方法建立机械手臂运动的动力学方程。然后通过纵向定常运动,分析建立机械手臂整定控制目标函数,求解机械臂在抓取作业过程中的最佳导引控制律,采用变结构模糊PID控制方法进行运动轨迹的误差修正,实现机械臂自动控制优化。最后通过仿真实验进行控制性能测试,结果表明,采用该方法进行机械手臂运动轨迹控制的精度较高,对机械臂位形变化轨迹的预测准确性较好。

Abstract:

The mechanical arm motion trajectory optimization control, automatic control to improve the performance of the mechanical arm, in order to improve the robustness of the control arm, put forward a variable structure fuzzy mechanical arm motion trajectory optimization control model based on PID control, the end effector motion planning constraint parameter inverse mathematical model of mechanical arm model, dynamics the mechanical arm motion equation is established with seven degrees of freedom motion space reconstruction method, and then through the longitudinal steady motion analysis to establish the mechanical arm tuning control objective function, solving the mechanical arm in grasping in the process of optimal guidance law, error correction structure using fuzzy PID control method for trajectory of the manipulator, realize the optimization of automatic control. Finally, the control performance is tested by simulation. The results show that the method has high accuracy in the control of the manipulator trajectory, and the prediction accuracy of the trajectory of the manipulator is better.