基于滑模和模糊算法相融合的人机协作机器人轨迹跟踪方法

Cooperative Robot Trajectory Tracking Control Method Based on the Fusion of Sliding Mode Control and Fuzzy Algorithm

智能制造的应用场景趋于多样化,对人机共融的协作机器人的性能要求日益严格,智能机器人与人的协作越来越密切、融合的场景越来越多。在人机共融的环境下,由于协作机器人的关节产生的摩擦、机器人末端执行器震动产生的干扰项无法准确建模等因素,导致协作机器人在轨迹跟踪过程中产生误差,随之而来的是对协作人员自身安全带来威胁。面向人机共融场景下的协作机器人高精度轨迹跟踪,以抑制机器人的关节抖振和最小化机器人末端执行器的位姿误差为目标,提出一种基于滑模控制和模糊算法相融合的人机协作机器人轨迹跟踪控制方法,基于模糊算法对协作机器人的滑模控制进行优化,降低了滑模控制的抖振。最后,在协作机器人的试验平台和仿真环境中,进行仿真和试验验证,验证该方法提高了协作机器人的轨迹跟踪精度,在收敛速度和跟踪精度方面具有较好的轨迹跟踪效果,更好地为人机协作提供安全、可控的共融环境。

The application scenarios of intelligent manufacturing tend to be diversified, the performance requirements of man-machine integrated cooperative robot are becoming more and more strict, and the cooperation between robot and human will be closer and closer. In the integrated environment, the friction at the joint of the cooperative robot and the interference term caused by the vibration of the robot end effector cannot be accurately modeled, resulting in errors in the trajectory tracking process of the cooperative robot, followed by a threat to the safety belt of the cooperative personnel. Aiming at the problem of high-precision trajectory tracking of cooperative robot, aiming at restraining the joint chattering of robot and minimizing the pose error of robot end effector, this paper proposes a trajectory tracking control method of cooperative robot based on the fusion of sliding mode control and fuzzy algorithm, and uses fuzzy algorithm to improve the sliding mode control of cooperative robot, The chattering of sliding mode control is reduced. Finally, the simulation and experimental verification are carried out in the simulation environment and the experimental platform of cooperative robot. The results show that this method improves the trajectory tracking accuracy of cooperative robot, has better trajectory tracking effect in terms of convergence speed and tracking accuracy, and better provides a safe and controllable integrated environment for man-machine cooperation.