图书自动盘点机器人变结构轨迹跟踪方法研究

Research on Variable Structure Trajectory Tracking Method of Automatic Book Inventory Robot

图书自动盘点机器人是图书馆智能化、数字化的有效方案,其轨迹跟踪方法是保证图书自动盘点机器人稳定运行的关键技术。针对传统图书自动盘点机器人轨迹跟踪位置和姿态的双目标控制问题,提出了一种基于改进趋近律的图书自动盘点机器人轨迹跟踪变结构非线性控制方法,该方法可以有效解决传统变结构控制方法快速性和抖震之间矛盾的问题,最后在Matlab环境下搭建了图书自动盘点机器人的仿真模型。仿真结果表明,所提出的方法不仅具有较快的响应速度,还对抖震有较好的抑制作用。

Automatic book inventory robot is an effective solution of library intellectualization and digitalization,and its trajectory tracking method is the key technology to ensure the stable operation of automatic book inventory robot.Aiming at the dual objective control problem of the position and attitude of the traditional automatic book inventory robot trajectory tracking,a nonlinear variable structure control method of the automatic book inventory robot trajectory tracking based on the improved reaching law was proposed.The method could effectively solve the contradiction between the rapidity and chattering of the traditional variable structure control method.Finally,the simulation model of automatic inventory robot was built in Matlab2021a environment.Simulation results showed that the proposed method not only has a fast response speed,but also has a good suppression effect on chattering.