运动控制和自适应模糊控制在码垛机器人中的应用  

Application of motion control and adaptive fuzzy control in palletizing robot

作　　者：刘光[1] 文桦 梁颖[3] LIU Guang;WEN Hua;LIANG Ying(Department of Mechanical and Electrical Engineering,Zhumadian Vocational and Technical College,Zhumadian,Henan 463000,China;School of Information Engineering,Huanghuai College,Zhumadian,Henan 463000,China;School of Mechanical and Electrical Engineering,Zhongyuan Institute of Technology,Zhengzhou,Henan 450007,China)

机构地区：[1]驻马店职业技术学院机电工程系,河南驻马店463000 [2]黄淮学院信息工程学院,河南驻马店463000 [3]中原工学院机电学院,河南郑州450007

出　　处：《食品与机械》2020年第3期119-123,共5页Food and Machinery

基　　金：国家自然科学基金青年基金项目(编号:51705546);教育部高教司产学合作协同育人项目(编号:201808011003)。

摘　　要：通过对码垛机器人和码垛系统进行调研,分析了其工作单元模型建立方法;建立了正反运动学描述,同时利用拉格朗日动力学方程分析了机器人的动力学特性;并提出了一种自适应模糊PID控制方法来研究机器人的动态特性;对运动控制和自适应模糊控制算法进行了仿真,仿真结果显示该控制器具有更好的性能。The palletizing robot and palletizing system were investigated,and the method of the relative work model was established.The description of both positive and negative kinematics was also established,and the dynamic characteristics were analyzed by Lagrange dynamics.Moreover,an adaptive fuzzy PID control method was proposed to study the dynamic characteristics of the robot.Thereafter,the motion control and adaptive fuzzy control algorithms were simulated,and this controller showed better performance.

关 键 词：运动控制 自适应模糊控制 码垛 机器人 动力学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]