机械臂的轨迹规划与协调控制模型及仿真研究

Trajectory Planning and Coordinated Control Model of Robot Manipulator and Its Simulation

通过从几何方法、结构及功能考虑,可获取机械臂的逆运动学。通过双曲线函数对经典滑模控制模型的优化,得到了一种新的算法,可以减少实际执行器的抖动效应,并将其与学习和自适应控制器一起应用于机械臂仿真模型。设计并实现了5自由度机械臂,包含用于反馈的通信接口及信号调理电路。通过仿真和实现获得的结果由联合误差的比较曲线和RMS指数表示,并且表明,在仿真和实现中,冗余操纵器遵循具有不太明显的最大误差的测试轨迹,使用自适应控制器比其他控制器,具有更均匀的机械手运动。

The inverse kinematics of the manipulator can be obtained from the geometric method, structure and function. A new algorithm is obtained by optimizing the classical sliding mode control model by hyperbolic function, which can reduce the jitter effect of the actual actuator and apply it to the robot arm simulation model together with the learning and adaptive controller. Design and implementation of a 5-DOF robot, including the communication interface for the feedback and signal conditioning circuit. The results obtained by simulation and implementation are represented by the comparison curve of the joint error and the RMS index,and show that in the simulation and implementation, the redundant manipulator follows a test trajectory with less significant maximum error, using an adaptive controller than the other The controller has a more uniform manipulator movement.