基于液压驱动的清污机器人控制方法研究

Research on Control Method of Cleaning Robot Based on Hydraulic Drive

针对水利设施中传统清污机清污效果较差的现状,设计一款液压驱动的清污机器人,用于拦污栅上污物的清理和拦污栅前污物的抓取。分析了清污机器人三自由度串联结构,采用几何法求解其运动学,得到各关节液压缸与末端位姿的非线性关系。根据清污机器人在清污过程中路径重复的特点,设计液压伺服驱动控制器。采用速度前馈控制方法,系统能够快速跟踪规划的轨迹;为减小位置误差,加入位置反馈控制方法。结果表明:所设计的清污机器人各个液压缸响应速度较快,位置精度较高。

In view of the poor cleaning effect of the traditional cleaning machine in water conservancy facilities,a cleaning robot driven by hydraulic system was designed for cleaning up the dirt on the trash rack and grab the dirt in front of the trash rack.The 3-DOF tandem structure of the cleaning robot was analyzed,the kinematics was solved by using the geometry methods,and the non⁃linear relationships between the hydraulic cylinder of each joint and the end pose were obtained.According to the characteristics of repetitive cleaning process path,the hydraulic servo drive controller was designed.Through the speed feedforward control method,the system could quickly track the planned trajectory;in order to reduce the position error,the position feedback control method was su⁃perimposed.The results show that each hydraulic cylinder of the designed cleaning robot has a faster response speed and higher position accuracy.