基于迭代学习控制的喷涂机器人轨迹精度策略研究

Research on Trajectory Accuracy Strategy of Spraying Robot Based on Iterative Learning Control

喷涂机器人轨迹精度是衡量机器人的一项重要指标,针对其精度要求高、鲁棒性强的特点,提出一种基于迭代学习的轨迹精度控制方案:由PID控制器为内环系统,外环由迭代学习控制器构成机器人轨迹精度控制系统,以保障系统的精度要求,仿真结果表明该控制策略轨迹重合度高,动态性能好,具有较高的实际应用价值。

The trajectory accuracy of spraying robot is an important index to measure the robot.According to the characteristics of precision requirement,high robustness and strong robustness,a trajectory accuracy control scheme based on iterative learning is proposed:the PID controller is used as the inner loop system,and the outer loop is composed of iterative learning controller to ensure the accuracy of the system.The simulation results show that the control strategy has high trajectory coincidence and good dynamic performance,which has high practical application value.