基于运动微分方程的搬运机器人姿态控制器设计  

Design of Attitude Controller of Handling Robot Based on Motion Differential Equation

作　　者：董慧 张华 DONG Hui;ZHANG Hua(Xi’an Mingde Institute of Technology,Xi’an 710124,China)

机构地区：[1]西安明德理工学院,陕西西安710124

出　　处：《机械与电子》2023年第3期50-54,共5页Machinery & Electronics

摘　　要：搬运机器人在工作过程受到外界环境干扰的影响,姿态难以平衡,为此设计一种基于运动微分方程的机器人姿态控制器。根据机器人两轴之间的约束关系计算角速度和线速度,构建动力学模型;从运动控制、状态监测等分析控制器功能需求,将硬件部分分为主控芯片、姿态检测和电机驱动等模块,选择适宜的芯片和传感器,满足抗干扰要求;利用运动微分方程确定机器人的可行姿态,形成姿态约束;采用遗传算法选择最优个体,多次迭代后获取最佳姿态控制参数,实现自动控制。实验结果表明,该控制器能够保证机器人搬运过程中具有较强的自平衡能力,在外界环境干扰下,控制器仍能确保机器人姿态快速恢复平稳。The handling robot is disturbed by the external environment during the working process,and its posture is difficult to balance.For this reason,a robot posture controller based on the differential equation of motion is designed.According to the constraint relationship between the two axes of the robot,the angular velocity and linear velocity are calculated,and the dynamic model is constructed;the functional requirements of the controller are analyzed from the aspects of motion control and state monitoring,and the hardware part is divided into modules such as main control chip,attitude detection,and motor drive,suitable chips and sensors are selected to meet the anti-interference requirements;the differential equation of motion is used to determine the feasible attitude of the robot to form attitude constraints;the genetic algorithm is used to select the optimal individual,and the optimal attitude control parameters after multiple iterations are obtained to achieve automatic control.The experimental results show that the controller can ensure that the robot has a strong self-balancing ability during the handling process,and the controller can still ensure the robot's posture to recover quickly and smoothly under the disturbance of the external environment.

关 键 词：运动微分方程 搬运机器人 姿态控制器 动力学模型 遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]