基于柔性多关节机器人的运动控制算法研究

The Research on Motion Control Algorithm Based on Flexible Multi-joint Robot

随着工业机器人的发展,其所服务的领域逐渐覆盖了航空应用、车载应用、真空洁净和建筑机械等诸多领域,机器人部件逐渐向着轻质、高集成度的方向过渡,随之而来的是机器人的机械本体柔性对机器人运动平稳性及准确性的负面影响,如何在采用更先进机构的同时克服机构的振动已经成了业内的新课题。针对六自由度柔性多关节机器人,进行了动力学前馈和S型轨迹规划算法的研究,采用S曲线插值对机器人的末端进行点到点、直线和圆弧插补,目的是得到一种运动更加平稳、可靠的控制方法。首先对动力学进行了简单的介绍,针对动力学介绍了建模过程中各个参数的求解和适配方法;其次,提出一种S型曲线规划方法,优化空间曲线的平顺性;最后,通过MATLAB对规划算法的有效性进行了仿真验证。

Along with the development of the industrial robot,its service covers many fields such as aviation application,automotive applications,the vacuum clean,and construction machinery.The robot parts gradually transit to the direction of the light weight,high integration,followed by the negative effects on a robot flexible manipulator on the robot motion stability and the accuracy.How to adopt more advanced institutions at the same time to overcome the body vibration has become a new topic in this industry.In this paper,a six-degree-of-freedom flexible multi-joint robot is studied by dynamic feed-forward and s-type trajectory planning algorithm.The s-curve interpolation is used to perform point-to-point,linear and circular interpolation on the end of the robot to obtain a more stable and reliable control method.Firstly,a brief introduction is made to the dynamics,and the solution and adaptation methods of each parameter in the modeling process are introduced.Secondly,an s-type curve planning method is proposed to optimize the smoothness of spatial curves.Finally,the effectiveness of the planning algorithm is simulated by MATLAB.