一种用于控制工业机器人运动轨迹误差的观测控制策略研究  

Design of a Motion Error Observation Control Strategy for the Motion Trajectory of Industrial Robot

作　　者：马骉 郭鹏远[2] 杨小强[3] MA Biao;GUO Pengyuan;YANG Xiaoqiang(Engineering Research Center of Chongqing Education Commission of China in Running and Maintenance of Robots,Chongqing City Vocational College,Chongqing 402160,China;School of Intelligent Manufacturing Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China;School of Intelligent Manufacturing,Chongqing Creation Vocational College,Chongqing 402160,China)

机构地区：[1]重庆城市职业学院工业机器人运维重庆市高校工程中心,重庆402160 [2]重庆文理学院智能制造工程学院,重庆402160 [3]重庆科创职业学院智能制造学院,重庆402160

出　　处：《机床与液压》2022年第23期56-60,共5页Machine Tool & Hydraulics

基　　金：重庆市教委科学技术项目(KJQN202005401);重庆市教育委员会科学技术研究计划青年项目资助项目(KJQN202203902);重庆城市职业学院校级项目(XJJG201901007;XJXK202001011)。

摘　　要：为了提高工业机器人运动轨迹的控制准确度,提出一种运动误差观测控制策略。分析机器人的组成结构,明确其工作原理。建立工业机器人的坐标系,并在该坐标系上求取机器人连杆间坐标系的变换矩阵;利用连杆间坐标系的变换矩阵,得到机器人末端执行器的运动学模型。以机器人的测量运动误差为依据,联合工业机器人的标称正向运动学模型,求取传感器架以及标称架与底座之间的变换模型;通过该变换模型,计算传感器架相对于标称架之间的位置向量及动态误差变换矩阵,得到测量运动误差值;通过测量运动误差值,构造运动误差观测器,用于获取机器人的估计运动误差,并将估计运动误差联合神经网络控制器,以实现对机器人运动轨迹的准确控制。利用此方法和滑模控制策略对平面和空间标定运动轨迹进行追踪,结果显示:此方法能准确地对平面和空间标定运动轨迹进行追踪,而且与滑模控制策略相比,此方法的追踪精度提高了34.25%。说明此方法能对工业机器人的运动轨迹进行精确的控制。In order to improve the trajectory control accuracy of industrial robot, a motion error observation control strategy was proposed.The structure of the robot was analyzed and its working principle was clarified.The coordinate system of the industrial robot was established, and the transformation matrix of the coordinate system between the robot connecting rods was obtained.Using the transformation matrix of the coordinate system between the connecting rods, the kinematic model of the robot end effector was obtained.Finally, based on the measured motion error of the robot and the nominal forward kinematics model of the industrial robot, the transformation model between the sensor frame and the nominal frame and the base was obtained.Through the transformation model, the position vector between the sensor frame and the nominal frame and the rotation matrix of the dynamic error transformation were calculated, and the measured motion error value was obtained.By measuring the motion error value, a motion error observer was constructed to obtain the estimated motion error of the robot, and the estimated motion error was combined with the neural network controller to realize the accurate control of the robot trajectory.The experimental results show that the proposed method can be used to accurately track the planar and spatial calibration trajectories, and the tracking accuracy of the proposed method is improved by 34.25% compared with the sliding mode control strategy.It shows that this method can be used to accurately control the motion trajectory of industrial robot.

关 键 词：工业机器人 运动轨迹控制 运动误差观测控制策略 神经网络控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]