CTU机器人装载轨迹自适应模糊滑模控制方法  

Adaptive Fuzzy Sliding Mode Control Method for Loading Trajectory of CTU Robot

作　　者：吴彦宝 乔立春 陈楠 郭阳 WU Yanbao;QIAO Lichun;CHEN Nan;GUO Yang(Yinchuan Power Supply Company of State Grid Ningxia Electric Power Co.,Ltd.,Yinchuan 750011,China)

机构地区：[1]国网宁夏电力有限公司银川供电公司,银川750011

出　　处：《自动化与仪表》2023年第6期51-56,共6页Automation & Instrumentation

摘　　要：CTU料箱机器人在多层拣货期间会出现装载不稳定现象,为解决这一问题,该文提出CTU机器人装载轨迹自适应模糊滑模控制方法。对CTU料箱机器人实施动力学分析,依据分析结果规划CTU机器人装载轨迹路径,使机器人根据规划的最优路径实现自动化取货;为保持机器人在拣货期间的稳定性,利用构建的自适应模糊滑模控制模型消除CTU机器人在外界干扰下所产生的输入抖振现象,并结合设计的自适应控制律,完成CTU机器人装载轨迹平衡控制,从而实现CTU机器人装载轨迹自适应模糊滑模控制。实验结果表明,通过对该方法开展平衡能力及抗扰动性测试,验证了该方法的可行性。In order to solve this problem,an adaptive fuzzy sliding mode control method for loading trajectory of CTU robot is proposed.Carry out dynamic analysis on the CTU bin robot,and plan the loading path of the CTU robot according to the analysis results,so that the robot can automatically pick up goods according to the optimal path planned.In order to maintain the stability of the robot during picking,the adaptive fuzzy sliding mode control model is used to eliminate the input chattering phenomenon caused by the external interference of the CTU robot.Combined with the designed adaptive control law,the balance control of the loading trajectory of the CTU robot is completed,so as to realize the adaptive fuzzy sliding mode control of the loading trajectory of the CTU robot.The experimental results show that the feasibility of the method is verified by the balance ability and anti-interference test of the method.

关 键 词：CTU机器人 装载轨迹 平衡控制 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]