基于血糖平衡调节机制的串联机器人运动调控方法  

Motion Control Method of Serial Robot Based on Blood Glucose Balance Adjustment Mechanism

作　　者：吴晓东 罗天洪 罗函明 WU Xiaodong;LUO Tianhong;LUO hanming(School of Mechanical and Vehicle Engineering,Chongqing Jiao Tong University,Chongqing 400074,China;School of Mechanical Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074 [2]重庆文理学院机电工程学院,重庆402160

出　　处：《机械设计与研究》2020年第4期18-22,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51375519);重庆市研究生科研创新项目(2018S0140,2019S0110,M2018ME16,CYS18223)。

摘　　要：针对串联机器人关节处移动位移、转动角度对末端位置精度的影响问题,提出一种基于生物学血糖平衡调节机制(BGBAM)的串联机器人运动调控方法。通过分析BGBAM的调控机理和生物学数学模型,建立串联机器人末端位置精度调控模型。以HSR-SR3400机器人为研究对象,推导机器人末端位置和沿y轴方向的位置误差调控模型,最后进行了仿真实验和精度调控方法对比实验。实验结果表明,基于BGBAM的调控方法减小了机器人关节处位移、角度误差对其末端位置的影响程度,提高了机器人末端位置精度。Aiming at the influence of joint displacement and rotation angle on terminal position accuracy of Serial robot,a method of motion control of Serial robot based on biological blood glucose balance adjustment mechanism(BGBAM)is proposed.By analyzing the control mechanism and biological mathematical model of BGBAM,a control model of end position precision of Serial robot is established.Taking the HSR-SR3400 robot as the research object,the position error control model of the robot's end position and the direction along the y-axis is derived,and finally the simulation experiment and the comparison experiment of the precision control method are carried out.The experimental results show that the BGBAM-based control method reduces the influence of displacement and angle error on the robot's end position and improves the robots end position accuracy.

关 键 词：血糖平衡调节机制 串联机器人 调控方法 位置精度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]