智能机械臂末端高精度控制的交互系统研究

Research on the Interactive System of High Precision Control at the End of the Intelligent Manipulator

由于交互式系统中智能机械臂控制存在一定误差,导致机械臂末端位姿精度偏低。为解决此问题,基于智能机械臂误差补偿及修正的基础性理论,构建误差模型;利用IMU传感器测算智能机械臂末端位姿数据,通过迭代补偿算法实现对智能机械臂的高精度控制。实验结果表明:机械臂静态时IMU数据传感器测算数据精度较高,且动态向静态转变的过渡期存在0.3 s延时;补偿后智能机械臂末端欧拉角均方根误差显著下降,迭代姿态补偿算法具有较强的鲁棒性。

In order to solve the low position and pose accuracy of the manipulator end due to the control error of the intelligent manipulator in the interactive system,an error model was constructed based on the basic theory of error compensation and correction of the intelligent manipulator.The IMU sensor was used to measure the position and pose data of the intelligent manipulator end,and the high precision control to the intelligent manipulator was realized through the iterative compensation algorithm.The experimental results show that the data accuracy of the IMU data sensor is high when the manipulator is static,and there is a 0.3 s delay in the transition period from dynamic to static.The root mean square error of the Euler angle at the intelligent manipulator end decreases significantly after compensation,and the iterative attitude compensation algorithm has strong robustness.