基于直插补模型的机器人机械臂运动控制轨迹智能修正研究  

Research on intelligent trajectory correction of robot manipulator motion control based on direct interpolation model

作　　者：刘力[1] Liu Li(Department of Mechanical and Electrical Engineering,Yan' an Vocational and Technical College, Shaanxi Yan' an, 716000, China)

机构地区：[1]延安职业技术学院机电工程系,陕西延安716000

出　　处：《机械设计与制造工程》2021年第3期23-27,共5页Machine Design and Manufacturing Engineering

摘　　要：针对现有机器人机械臂轨迹修正方法控制精度低、算法过于复杂的不足,提出了基于直线插补模型的轨迹智能修正方法。在笛卡尔空间内构建机械臂的动力学模型,准确描述了末端执行器、关节和连杆的运动变化关系,在偏离轨迹与理想轨迹之间利用长度足够小的直线段进行曲线拟合,纠正末端执行器的轨迹偏差,使拟合后的轨迹接近于理论轨迹。实验结果表明,提出的修正方法最大弓高误差值不超过0.01 mm,算法的复杂度低,机械臂关节的旋转角度和连杆位移的偏差值更小。In view of the shortcomings of the existing trajectory correction methods of robot manipulators,such as low control accuracy and too complex algorithm,an intelligent trajectory correction method based on direct interpolation model is proposed.The dynamic model of manipulator motion is constructed in Cartesian space to accurately describe the motion change relationship of the end effector,joint and connecting rod.A small enough straight line segment is used for curve fitting between the deviation trajectory and the ideal trajectory,so that the trajectory deviation of the end effector is corrected,and the curve trajectory after fitting tends to the theoretical trajectory.The experimental results show that the maximum pantograph height error of the proposed method is less than 0.01 mm,and the algorithm is less complex,and the deviation of angle and displacement is smaller.

关 键 词：直插补模型 机械臂 运动轨迹 弓高误差 

分 类 号：TN949[电子电信—信号与信息处理]