基于误差补偿的移动式双臂协作机器人自适应协同装配均衡控制方法

Balance control method of mobile two-arm cooperative robot based on error compensation

为了提高移动式双臂协作机器人的自适应协同控制能力,提出基于反馈调节均衡误差补偿的移动式双臂协作机器人自适应协同装配均衡性控制技术。构建移动式双臂协作机器人控制约束参数和对象模型,采用空间规划和负荷均衡调节方法,实现对移动式双臂协作机器人的自适应参数融合和控制量优化辨识,通过随机负荷误差补偿的方法构建移动式双臂协作机器人自适协同装配过程中的均衡参数集,结合模糊度检测和自适应跟踪补偿方法,构建移动式双臂协作机器人的自适应均衡控制模型,根据参数寻优结果,实现对移动式双臂协作机器人自适应协同装配过程中的反馈调节均衡误差补偿,提高装配的稳定性和可靠性。仿真结果表明,采用该方法进行移动式双臂协作机器人自适应协同装配控制的输出均衡性较好,误差补偿能力较强,提高了机器人控制的稳定性和鲁棒性。

In order to improve the adaptive cooperative control ability of mobile dual-arm cooperative robot,the adaptive cooperative assembly balance control technology of mobile dual-arm cooperative robot based on feedback adjustment balance error compensation is proposed.The control constraint parameters and object models of the mobile dual-arm cooperative robot are constructed,the adaptive parameter fusion and control quantity optimization identification of the mobile dual-arm cooperative robot are realized by adopting the spatial planning and load balancing adjustment methods,the equilibrium parameter set in the adaptive cooperative assembly process of the mobile dual-arm cooperative robot is constructed by using the random load error compensation method,and the ambiguity detection and adaptive tracking compensation methods are combined.The adaptive equilibrium control model of mobile dual-arm cooperative robot is constructed.According to the parameter optimization results,the feedback adjustment equilibrium error compensation in the adaptive cooperative assembly process of mobile dual-arm cooperative robot is realized,and the stability and reliability of assembly are improved.Simulation results show that the adaptive cooperative assembly control of mobile dual-arm cooperative robot has better output balance and stronger error compensation ability,which improves the stability and robustness of robot control.