基于改进遗传算法的机器人运动轨迹跟踪控制  

Trajectory Tracking Control of Robot based on Improved Genetic Algorithm

作　　者：刘一扬[1] 刘明明[1] 

机构地区：[1]郑州财经学院机电工程系,河南郑州450044

出　　处：《机械传动》2016年第3期39-42,61,共5页Journal of Mechanical Transmission

摘　　要：通过对机器人的运动轨迹准确跟踪控制,能够有效提高机器人路径规划和自主定位的准确性。机器人在运动过程中运动轨迹受到小扰动分段线性误差的影响,机器人系统是一个多变量非线性系统,传统的遗传算法进行运动轨迹跟踪控制在边界层出现稳态跟踪误差。针对以上问题提出一种基于改进遗传算法的机器人运动轨迹跟踪控制算法。模拟构建所研究的机器人的运动环境模型,把机器人运动轨迹的空间坐标抽象为遗传种群的虚拟世界,得到机器人运动空间的网格结构模型。通过遗传进化的方式寻找目标点并进行移动,为了使得机器人的运动轨迹控制满足遗传算法的匹配条件和参数摄动带来的误差,在机器人运动轨迹滑膜面设计一个跟踪误差的积分项,实现算法改进。仿真结果表明:采用该算法进行机器人运动轨迹控制,能以较快的收敛速度找到最优路径,机器人跟踪控制性能精确度和收敛性较好,性能优越。Through accuracy tracking control the trajectory of the robot,the accuracy of robot path planning and autonomous positioning can be improved. The motion track of the robot in the process of motion is influenced by small disturbance linear error,the robot system is a multi variable nonlinear control system,and in the traditional genetic algorithm for trajectory tracking control,the steady- state tracking error appearances in the boundary layer. A kind of algorithm of trajectory tracking control of robot based on improved genetic algorithm is put forward. The simulation of motion environment model of robot is constructed,the space coordinates of robot trajectory is regarded as the virtual world of abstract genetic populations,the grid structure model of the robot motion space is obtained. Through genetic evolution way to find the target point and move,and in order to make the robot trajectory control of genetic algorithm that satisfy matching conditions and parameters perturbation error,a integral term of robot trajectory tracking error in the synovial surface is designed,and the algorithm is improved. The simulation results show that,by using the algorithm,the optimal path of robot trajectory control can be found with fast convergence speed,and it has a better robot path tracking control accuracy and convergence performance,superior performance.

关 键 词：机器人 遗传算法 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]