融合云计算的桁架机器人柔性分拣结构控制

Flexible Sorting Structure Control of Truss Robot Based on Cloud Computing

传统控制技术在计算分拣结构期望力矩时,忽略了对从动臂执行力矩的补偿,导致末端最大跟随误差、夹持力超调量较大。为此,针对桁架机器人柔性分拣结构,本研究融合云计算过程设计了新的自动化控制技术。在采集工件图像后定位其实际位置,从而确定抓取点。然后通过云计算获得分拣结构抬起高度等参数,根据抓取点和放置点位置规划分拣结构运动轨迹,并计算作用在主动臂、从动臂、动平台上的期望力矩。最后通过力矩前馈控制器执行力矩前馈补偿,驱动机器人柔性分拣结构完成运动轨迹。在实验中,改变分拣结构末端运动速度和负载,结果表明:该技术减小了分拣结构末端最大跟随误差和夹持力超调量,提高了工件位置跟踪精度和抓取稳定性,保证了机器人对速度变化和负载变化的自适应性。

When calculating the expected torque of the sorting structure,the traditional control technology ignores the compensation of the execution torque of the driven arm,which leads to the maximum following error of the terminal and the overshoot of the clamping force.Therefore,for truss robot flexible sorting structure,this study integrates the cloud computing process to design a new automatic control technology.After the workpiece image is collected,its actual position is located to determine the capture point.Then,the lifing height and other parameters of the sorting structure were obtained through cloud computing,and the movement trajectory of the sorting structure was planned according to the position of grasping point and placing point,and the expected torque acting on the active arm,driven arm and moving platform was calculated.Finally,a torque feedforward controller is used to implement torque feedforward compensation and drive the flexible sorting structure of the robot to complete the trajectory.In the experiment,the motion speed and load of the end ofthe sorting structure were changed.The results show that this technology can reduce the maximum following error and overshoot of the clamping force,improve the tracking accuracy and grasping stability of the workpiece position,and ensure the adaptability of the robot to the change of speed and load.