物流搬运机器人路径跟踪双闭环P+前馈系统设计

Double closed-loop P+feedforward System For Path Tracking Of Logistics Handling Robots

摘要:

在复杂的物流搬运环境中，机器人需要实时规划最优路径以避开障碍物并在限定时间内完成任务。实时路径规划面临着复杂的算法设计和计算量大的挑战。同时，物流搬运机器人在运动中会面临各种外部扰动和变化，为了实现准确的路径跟踪，提高机器人工作的效率和准确性，设计物流搬运机器人路径跟踪双闭环P+前馈系统。主控模块采用分层架构和模块化设计上层控制层、中间连接层和底层硬件控制层三个部分，实现对机器人的控制和管理；运动控制模块利用低功耗动态视觉传感器采集环境信息，并通过底层驱动电路实现控制数据和指令的传输。通过CAN总线将路径规划结果实时发送给底层控制器，设计双闭环P+前馈控制算法进行路径跟踪误差控制，从而更精确地控制机器人的路径跟踪运动。测试结果表明，设计系统应用后，可有效控制主控模块与运动控制模块之间的通信延迟，通信延迟平均值为4.2ms；应用后在风力干扰、负载变化、地面摩擦力变化和其他机器人的碰撞情况下，得到的路径跟踪结果与规划路径结果拟合度接近100%，证实了设计系统具有较好的路径跟踪效果，有助于优化机器人工作效率和准确性，具有一定的实用性和推广价值。

Abstract:

In complex logistics handling environments, robots need to plan the optimal path in real-time to avoid obstacles and complete tasks within a limited time. Real time path planning faces challenges in complex algorithm design and high computational complexity. At the same time, logistics handling robots will face various external disturbances and changes during movement. In order to achieve accurate path tracking, improve the efficiency and accuracy of robot work, a dual closed-loop P+feedforward system for logistics handling robot path tracking is designed. The main control module adopts a layered architecture and modular design, consisting of three parts: the upper control layer, the middle connection layer, and the lower hardware control layer, to achieve control and management of the robot; The motion control module utilizes low-power dynamic vision sensors to collect environmental information, and transmits control data and instructions through the underlying driving circuit. Real time transmission of path planning results to the underlying controller is achieved through CAN bus, and a dual closed-loop P+feedforward control algorithm is designed for path tracking error control, thereby more accurately controlling the path tracking motion of the robot. The test results show that after designing the system application, the communication delay between the main control module and the motion control module can be effectively controlled, with an average communication delay of 4.2ms; After application, the path tracking results obtained under wind interference, load changes, ground friction changes, and collisions with other robots have a fitting degree close to 100% with the planned path results, confirming that the designed system has good path tracking effect, which helps to optimize the efficiency and accuracy of robot work, and has certain practical and promotional value.