LabVIEW环境下的机械臂轨迹跟踪控制算法研究  

Research on Robotic Trajectory Tracking Control Algorithm Based on LabVIEW

作　　者：孙军[1] 张鹏 沈卓群 崔楠 SUN Jun;ZHANG Peng;SHEN Zhuo-qun;CUI Nan(School of Mechanical Engineering,Shenyang Jianzhu University,Liaoning Shenyang110168,China)

机构地区：[1]沈阳建筑大学机械学院,辽宁沈阳110168

出　　处：《机械设计与制造》2020年第6期245-248,共4页Machinery Design & Manufacture

基　　金：辽宁省自然科学基金—数控机床热误差补偿技术理论与应用研究(2013020035);辽宁省科技计划项目—镗铣加工中心热误差智能化检测与补偿技术(2013220017)。

摘　　要：轨迹跟踪是机械臂控制的最终目的,针对机械臂仿真控制领域文本语言编程复杂、效率低等问题,构建了一种基于LabVIEW的四轴机械臂仿真控制平台,以Dobot机械臂为研究对象,使用Lagrange分析法构建动力学方程,并在LabVIEW中搭建了其仿真模型;还针对PID控制应用于非线性、强耦合、多变量的机器人系统时,其控制效果不理想的问题,设计了一种基于LabVIEW的模糊PID机械臂控制策略.通过LabVIEW仿真实验表明,该方法提高了控制精度,降低了系统的超调量和调节时间,大大缩短了开发周期.Trajectory tracking is the ultimate goal of manipulator control,in order to solve the problems of complex programming language and low efficiency in the field of manipulator simulation control,a four-axis manipulator simulation control platform is constructed based on LabVIEW.Using the Dobot manipulator as the research object,the dynamic equations are constructed by Lagrange analysis,the simulation model is built in LabVIEW.In addition,aiming at that PID control is applied to nonlinear,strong coupling,multivariable robotic system,the control effect is not ideal,a fuzzy PID manipulator control strategy based on labview is created.The LabVIEW simulation showed that this method improved the control precision,reduced the system overshoot and adjust time,and shortend the development cycle greatly.

关 键 词：LABVIEW 机械臂 轨迹跟踪 模糊PID 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]