基于强跟踪滤波的机器人运动轨迹控制系统设计

Design of Robot Track Control System Based on Strong Tracking Filter

摘要:

机器人运动信息采集的抗噪性较差，导致系统运动轨迹与实际轨迹不符，轨迹控制效果较差。因此提出基于强跟踪滤波的机器人运动轨迹控制系统设计。系统通过软硬件协同工作，实时控制机器人轨迹。采用IPM电机驱动控制系统硬件结构，根据指令和感知信息，采用多CPU结构控制方式，控制一个机器人关节运动。使用PCI9052接口控制PCI-485接口卡，实现了上下位机之间通讯。以TMS32OF240XDS为核心，设计DSP控制器，完全分离程序空间与数据空间。在软件设计方面，通过CAN-TTLG单片机光隔离超远程驱动器，使系统具有一定抗噪能力。构建机器人运动方程，引入强跟踪滤波弱化因子，计算运动轨迹偏差，并对机器人运动控制进行重力补偿，由此设计轨迹控制流程，完成机器人运动轨迹控制系统设计。实验结果表明，该系统运动轨迹与实际轨迹相符，且轨迹控制效率较好，具有良好控制效果。

Abstract:

The noise resistance of the robot motion information collection is poor, resulting in the system trajectory not matching the actual trajectory, and the trajectory control effect is poor. Therefore, the design of robot trajectory control system based on strong tracking filtering is proposed. The system cooperates with software and hardware to control the robot trajectory in real time. The hardware structure of the IPM motor drive control system is adopted, and the multi-CPU structure control mode is used to control the movement of a robot joint according to the instructions and perception information. The PCI9052 interface is used to control the PCI-485 interface card, which realizes the communication between the upper and lower computers. With TMS32OF240XDS as the core, the DSP controller is designed to completely separate the program space and data space. In terms of software design, the CAN-TTLG single-chip optically isolated ultra-remote driver enables the system to have certain anti-noise capabilities. Construct the robot motion equation, introduce weak tracking filter weakening factor, calculate the deviation of the motion trajectory, and perform gravity compensation on the robot motion control, thus design the trajectory control process and complete the design of the robot motion trajectory control system. The experimental results show that the trajectory of the system is consistent with the actual trajectory, and the trajectory control efficiency is good, with good control effect.