基于动态逆模型的机器人轨迹跟随纠偏控制

Trajectory Tracking Correction Control of Robot Based on Dynamic Inverse Model

变刚度关节驱动机器人受到柔性作业面的影响,导致机器人控制的轨迹跟随性不好,提出一种基于动态逆模型的机器人轨迹跟随纠偏方法。构建变刚度关节驱动机器人的D-H参数和运动学模型,采用扩展卡尔曼滤波方法进行的机器人轨迹跟随参量采样和自适应融合处理,结合谐振比率控制方法进行机器人轨迹跟随的误差反馈调节,采用动态逆控制模型计算机器人的轨迹跟随误差,以机器人的几何空间位姿参数的调节对象,进行轨迹跟随纠偏控制,利用关节轴线间的几何关系求出模型中运动学参数,获得的连杆模型参数能及时反馈给变刚度关节驱动机器人的控制系统,实现控制律优化设计。仿真结果表明,采用该算法进行机器人轨迹跟随纠偏控制的稳定性较好,控制过程的轨迹纠偏性能较好。

The variable stiffness joint driven robot is affected by the flexible working surface,which leads to the poor trajecto ry following performance of robot control.A trajectory tracking correction method based on dynamic inverse model is proposed.The D-H parameter and kinematics model of the variable stiffness joint driven robot are constructed.The trajectory tracking parameter sampling and adaptive fusion processing of the robot are carried out by using the extended Kalman filter(EKF)method.Combined with the resonant ratio control method,the error feedback adjustment of robot trajectory following is carried out.The dynamic in verse control model is used to calculate the robot trajectory following error,and the object of adjusting robot's geometric space posi tion and pose parameter is used to adjust the robot's trajectory following error.The kinematics parameters of the model are obtained by using the geometric relationship between the joint axes.The parameters of the model can be fed back to the control system of the robot with variable stiffness in time and the optimal design of the control law can be realized.The simulation results show that the proposed algorithm is more stable and the trajectory correction performance of the control process is better.