基于混合插值的机械臂运动轨迹跟踪控制方法  

The Motion Trajectory Tracking Control Method of Manipulator Based on Hybrid Interpolation

作　　者：车众元 王景瑞 吴雪松 Che Zhongyuan;Wang Jingrui;Wu Xuesong(College of Engineering and Technology,China University of Geosciences,Beijing 100083,China;College of Mechanical and Electrical Engineering,Beijing University of Chemical Technology,Beijing 102200,China)

机构地区：[1]中国地质大学(北京)工程技术学院,北京100083 [2]北京化工大学机电工程学院,北京102200

出　　处：《科技通报》2020年第10期46-51,共6页Bulletin of Science and Technology

摘　　要：针对当前方法在对机械臂运动轨迹跟踪控制时,容易受到选取参数的影响,使控制网络陷入局部极小,导致机械臂运动轨迹跟踪控制的准确性和稳定性较差,造成运动轨迹跟踪误差较大的问题,本文提出了基于混合插值的机械臂运动轨迹跟踪控制方法。构建三自由度的机械臂动力学模型,结合参考坐标系确定机械臂位姿,使用Lagrange函数方法,解析显示出机械臂结构,选取带方向的一阶微分prewitt算子进行边缘检测,利用立方卷积和双三次插值算法,处理机械臂运动轨迹的边缘像素点,提取机械臂运动过程中的边缘信息,为运动轨迹的跟踪提供基础,采用模糊变结构补偿方法,实现机械臂运动轨迹跟踪控制。为验证设计的跟踪控制方法的有效性,设计仿真实验,实验结果表明,本文设计的机械臂运动跟踪控制方法的稳定性较好,能够准确地跟踪期望轨迹,有效减小运动轨迹跟踪误差。According to the current method,when the trajectory of the robotic arm is tracked and controlled,it is easily affected by the selected parameters,which causes the control network to fall into a local minimum,resulting in poor accuracy and stability of the trajectory of the trajectory of the robotic arm.A big problem,a method for tracking and controlling the trajectory of the robot arm based on hybrid interpolation is proposed.Construct a three-degree-of-freedom dynamic model of the robot arm,determine the position and posture of the robot arm with reference coordinate system,use Lagrange function method to analyze and show the structure of the robot arm,select the first-order differential prewitt operator with direction for edge detection,and use cubic volume The product-sum bicubic interpolation algorithm processes the edge pixels of the trajectory of the robotic arm,extracts the edge information during the motion of the robotic arm,and provides a basis for the trajectory of the trajectory.The fuzzy variable structure compensation method is used to realize the trajectory control of the robotic trajectory.In order to verify the effectiveness of the designed tracking control method,a simulation experiment is designed.The experimental results show that the robot arm motion tracking control method designed in this paper has good stability,can accurately track the desired trajectory,and effectively reduce the tracking error of the trajectory.

关 键 词：混合插值 机械臂 轨迹跟踪控制 模糊变结构补偿 模糊力矩控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]