基于SLAM算法的双柔性杆机器人迟滞补偿方法

Hysteresis Compensation Method of Dual Flexible Link Robot Based on SLAM Algorithm

为了降低由于迟滞问题引起的机器人命令执行效果较差的问题,实验提出基于SLAM算法的双柔性杆机器人迟滞补偿方法.采用SLAM算法构建了机器人运行轨迹模型,通过对SLAM算子进行下降处理,计算不同边界条件下机器人运动轨迹的迟滞,最后采用自适应投影的方式,计算出满足SLAM算子位置信息的增益值,以此实现对机器人的迟滞补偿.进行试验测试,结果表明,所提方法可以控制机器人运行时延稳定在0.01 ms以内,运动误差仅为0.01 mm,能够实现对指令99%以上的完成率,能够实现机器人的高精度地运行.

In order to reduce the problem of poor execution effect of robot command caused by hysteresis,a hysteresis compensation method for dual flexible link robot based on SLAM algorithm is proposed.The trajectory model of the robot is constructed by SLAM algorithm.By descending the slam operator,the trajectory hysteresis of the robot under different boundary conditions is calculated.Finally,the gain value satisfying the position information of the SLAM operator is calculated by adaptive projection,so as to realize the hysteresis compensation of the robot.The experimental results show that the proposed method can control the running delay of the robot within 0.01ms,the motion error is only 0.01mm,the completion rate of the instructions is more than 99%,and the robot can run with high precision.