一种基于多轴工业机器人的非线性同步控制方法  

A Nonlinear Synchronous Control Method Based on the Multiaxial Industrial Robot

作　　者：储婷婷[1] 刘延杰[1] 韩海军[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《机械与电子》2015年第8期72-76,共5页Machinery & Electronics

基　　金：国家"863计划"项目(2013AA040901);黑龙江省创新专项(YC13D004)

摘　　要：为了提高机器人的末端轨迹精度,提出了一种基于六轴工业机器人的包含位置误差和同步误差的非线性PD偏差耦合控制策略。该策略无需考虑机器人精确的动力学模型参数,避免了不精确动力学参数的影响。首先建立了基于IRB120型虚拟样机的动力学模型,再利用Simulink和Adams进行联合仿真验证该策略的合理性。仿真结果表明,利用该方法与基于相同规划轨迹的传统非同步控制的力矩前馈算法和PD同步控制算法进行比较,有效地降低了关节同步误差,提高了末端的轨迹精度。To improve robot trajectory preci- sion, a nonlinear PD deviation coupling control strategy is designed which contains position error and synchronization error between said six axes. The strategy does not consider an accurate kinetic model for the robot as it is not needed; as a result, the impact of inaccurate kinetic parameters is avoided. First a kinetics model is established based on the IRB120 virtual prototype, then Simulink and Adams are used to conduct a joint simulation and test the appropriateness of the strategy. The simu- lation shows that, when based on the same planned trajectories, compared with traditional un- synchronized control of torque feedforward algorithm and the PD synchronization control algo rithm, this strategy has reduced ioint synchroniza tion error. The joint trajectory precision is also im proved.

关 键 词：偏差耦合 非线性PD控制律 虚拟样机 轨迹精度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]