基于迭代学习的镜片分拣机器人主动臂轨迹跟踪控制系统的设计  

Design of Lens Sorting Robot Active Arm Trajectory Tracking Control System Based on Iterative Learning

作　　者：胡炜[1] 杨尹[2] 顾寄南[2] 

机构地区：[1]苏州工业职业技术学院,江苏苏州215104 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《机床与液压》2015年第3期92-94,共3页Machine Tool & Hydraulics

摘　　要：针对动力学精确模型未知情况下的镜片分拣机器人重复动作路径控制问题,通过忽略从动臂、动平台和负载质量,建立镜片分拣机器人的简化拉格朗日动力学模型,解除动力学控制各主动臂的耦合性,分别对各单个主动臂施加控制。将迭代学习算法应用到单个主动臂的轨迹控制中,在Matlab中搭建基于迭代学习的镜片分拣机器人主动臂轨迹跟踪控制系统。通过模拟仿真验证轨迹跟踪精度,结果表明基于迭代学习的主动臂轨迹跟踪控制系统在有限迭代次数内跟踪精度较高。In order to solve the repetitive motion path control problem of lens sorting robot under imprecise kinetic model, simpli- fied Lagrange dynamics model of the robot was built by ignoring weight of follower arm, moving platform and loads. Dynamics control coupling of active arms was released and control was exerted to each single active arm. The iterative learning control algorithm was ap- plied to each single active arm trajectory control.. Active arm trajectory tracking control system of lens sorting robot based on [LC was built in Matlab. Trajectory tracking accuracy of the system was verified by simulating , the resuhs show that precision of the active ann trajectory tracking control system is high under finite number of iterations.

关 键 词：并联机构 迭代学习 轨迹跟踪 镜片分拣 拉格朗日方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]