欠约束多机器人并联协调吊运系统运动控制  

Motion Control of Cable-Driven Multi-Robot Parallel Lifting System

作　　者：姬笑磊 赵志刚[1] 张李扬 JI Xiao-lei;ZHAO Zhi-gang;ZHANG Li-yang(College of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou Gansu 730070,China)

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》2020年第2期355-359,共5页Computer Simulation

基　　金：国家自然科学基金资助项目(51265021);教育部科学技术研究重点项目(212184)。

摘　　要：针对吊运过程中如何协调控制各机器人以实现负载高精度快速运动问题,采用了一种基于动力学模型前馈补偿+PD反馈的欠约束多机并联协调吊运系统轨迹跟踪控制方法。利用位置几何关系进行了逆运动学分析,并采用拉格朗日方程建立了系统的逆动力学模型。考虑到模型不确定性及外界扰动,采用前馈补偿+PD反馈控制方法进行轨迹跟踪控制。为了使被吊运物的轨迹跟踪控制更加快速准确,采用遗传算法对PD参数进行优化。理论分析和数值仿真结果表明,控制方法实现简单,能够快速有效地跟踪被吊运物的运动轨迹,满足被吊运物轨迹跟踪精度的要求。Aiming at the problem of how to coordinate and control each robot to realize high precision and fast movement of load in hoisting process,we adopted a trajectory tracking control method of under-constrained multi-robot parallel coordinated hoisting system based on dynamic model feedforward compensation and PD feedback.The inverse kinematics analysis was carried out by using the position geometry relation,and the inverse dynamic model of the system was established by using Lagrange equation.Considering the uncertainties of the model and external disturbances,a feed-forward compensation plus PD feedback control method was used to track the trajectory.In order to make the trajectory tracking control of the lifted object more rapid and accurate,genetic algorithm was used to optimize the PD parameters.Theoretical analysis and numerical simulation results show that the control method is simple and can track the trajectory of the lifted object quickly and effectively,which can meet the requirements of the trajectory tracking accuracy of the lifted object.

关 键 词：多机器人 并联协调吊运系统 轨迹跟踪 前馈补偿 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]