煤矿巡检机器人动力学及独立关节控制研究  

Research on Dynamics and Independent Joint Control of Coal Mine Inspection Robot

作　　者：蔡玉强 范祺 贾思楠 CAI Yuqiang;FAN Qi;JIA Sinan(School of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China;School of Mining Engineering,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063210 [2]华北理工大学矿业工程学院,河北唐山063210

出　　处：《煤炭技术》2023年第3期220-224,共5页Coal Technology

基　　金：河北省教育厅基金项目(2019GJJG216);华北理工大学博士启动基金项目(BS2017094)。

摘　　要：针对煤矿巡检机器人机械臂运动精度问题,提出结合前馈与反馈的独立关节控制方法。首先在SolidWords软件建立巡检机器人机械臂三维模型,获取机械臂D-H参数完成正逆运动学分析并在MATLAB软件机器人工具箱中软件建立机械臂空间模型;采用B样条曲线优化五次多项式插值方法完成巡检机器人轨迹规划,仿真得到运动过程中角位移、角速度、角加速度随时间变化关系;建立机械臂动力学方程,仿真得到关节运动所需力矩;结合前馈与反馈的独立关节控制方法实现机械臂运动控制,在Simulink平台下建立控制系统模型。关节位置运动控制效果对比发现机械臂按预期轨迹运动精度高,满足巡检机器人井下作业需求。Aiming at the problem of the motion accuracy of the robot robot for coal mine inspection, an independent joint control method combining feedforward and feedback is proposed. Firstly, the threedimensional model of the robot robot robot is established in SolidWords software, the D-H parameters of the robot arm are obtained to complete the positive and negative kinematic analysis, and the space model of the robot arm is established in the software of MATLAB software robot toolbox;the B-spline curve optimization five-time polynomial interpolation method is used to complete the trajectory planning of the inspection robot, and the relationship between angular displacement, angular velocity and angular acceleration during the movement is simulated;the dynamic equation of the robot arm is established, and the torque required for joint motion is simulated. Combining the independent joint control method of feed-forward and feedback, the robot arm motion control is realized, and the control system model is established under the Simulink platform. Comparing the motion control effects of the joint position, it is found that the robot arm has high movement accuracy according to the expected trajectory, which meets the needs of the underground operation of the inspection robot.

关 键 词：巡检机器人 轨迹规划 动力学 独立关节控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]