灵巧机械手变负载误差控制与优化

Control and Optimization of Variable Load Error on Dexterous Manipulator

鉴于变负载对灵巧机械手精度影响的问题,基于D-H参数连杆坐标系,建立灵巧机械手系统的运动学模型,求解灵巧机械手末端位置的运动学方程,研究关节在轨迹规划前提下的位置及速度曲线,分析变负载对机械手末端精度的影响,求解变负载对灵巧机械手末端精度的误差模型,在变负载对末端精度及速度的影响下得出灵巧机械手在变负载作用下的误差曲线,通过基于粒子群算法的PID控制器对其进行误差优化。仿真结果表明:基于粒子群的PID控制器对变负载引起的误差进行优化补偿,为灵巧机械手变负载的进一步研究提供了理论基础和依据。

In view of variable load effect on the accuracy of the dexterous manipulator,the kinematics model of dexterous manipulator system and the equations of the end position are solved,based on D-H parameter connecting rod coordinate system. The position and velocity curve of joint is studied,with trajectory planning. The variable load error model of dexterous manipulator accuracy is resolved in the premise of analysis of variable load effect. The error curve under variable load is worked out,considering the load effect on the accuracy and speed in the end. Then,the error of the variable load is revised by the PID controller based on particle swarm optimization. The simulation results show thatthe error caused by variable load is optimized and compensated based on particle swarm-PID controller,which provides a theoretical basis for further research on the variable load of dexterous manipulator.