机器人标定系统自适应控制器研究

Research on Adaptive Controller of Robot Calibration System

为了降低非线性系统自适应控制器设计的难度,提出通过运动分解减小非线性方程维度的方法设计相应的自适应控制器。将机器人末端执行器的运动分解为平移运动和旋转运动,让机器人末端执行器上的激光器通过先平移后旋转的方式使激光光斑分别趋向于PSD1和PSD2的中心。通过运动分解减小非线性方程的维度的方法,降低了控制系统数学方程的复杂度。为验证用所提方法设计控制器的有效性,利用MATLAB/Simulink软件搭建仿真环境,对标定过程进行仿真分析。仿真结果表明:所设计的控制器可使机器人运动更迅速、稳定地实现控制目标。

In order to reduce the difficulty of the design of nonlinear system adaptive controller,the method of reducing the dimension of nonlinear equation by motion decomposition is proposed to design the corresponding controller. The motion of the end-effector of the robot is divided into the translation and rotation movement. The laser beam tends to the center of PSD1 and PSD2 by the way of first translation and then rotation. The method of reducing the dimension of nonlinear equation by motion decomposition reduces the complexity of the mathematical equation of the control system. In order to verify the effectiveness of the proposed method,the calibration process was simulated and analyzed with MATLAB/Simulink. The simulation results show that the proposed control law can make the robot movement more quickly and stably achieve the control target.