多机器人协调吊运系统控制优化仿真  

Analysis of Kinematics and Control Simulation for Multi-robot Collaboratively Towing System

作　　者：王砚麟[1] 赵志刚[1] 石广田[1] 

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070

出　　处：《计算机仿真》2015年第10期404-408,共5页Computer Simulation

基　　金：国家自然科学基金资助项目(51265021);高等学校博士学科点专项科研基金新教师类资助课题(20126204120004);教育部科学技术研究重点项目(212184)

摘　　要：针对多机器人协同吊运同一重物的紧耦合多机器人协调吊运系统,为了确保吊运物能够按照预期的轨迹运动,研究吊运系统的控制优化问题成为必要,其难点在于耦合力学模型和控制模型的建立。首先对多机器人协调吊运系统的构型进行了配置并建立了系统的运动学模型,对系统运动学进行了分析;然后利用牛顿-欧拉方程建立了系统的广义动力学方程;随后对系统的运动学进行了仿真;最后利用软件UG/ADAMS/MATLAB搭建了系统的控制仿真平台,在MATLAB/Simulink中控制系统采用PID控制算法,进行控制仿真。仿真结果表明:所建立的系统运动学模型和控制方法是合理的,控制仿真平台可以实现实时采集、控制吊运系统,最大控制误差极小,且运动状态平滑,可为进一步研究多机器人协调吊运系统的稳定性和系统控制方案优化提供依据。The structure model of closing - coupling multi - robot collaborative towing system was analyzed that is equivalent to multi - rigid bodies flexible cable system. Firstly, the configuration of multi - robot coordination towing system was deployed and the kinematics model of towing system was established and analyzed. Subsequently, the generalized dynamic equation was given by use of the Newton - Euler equation. Next, the kinematics of the towing system was simulated. Finally, using the software UG/ADAMS/MATLAB, the simulation system of control was es- tablished. The simulation results reveal that the proposed kinematics model and control model is very good, it can be used to realize real - time acquisition and control towing system, and the movement is smooth.

关 键 词：多机器人系统 协调吊运系统 运动学模型 控制仿真平台 

分 类 号：N945.12[自然科学总论—系统科学] TP391.9[自动化与计算机技术—计算机应用技术]