应用贪婪训练算法的装配机械手定位控制研究  

Research on Positioning Control of Assembly Manipulator Using Greedy Training Algorithm

作　　者：杨坤平 廉飞宇[2] YANG Kun-ping;LIAN Fei-yu(Department of Information Technology,Songshan Shaolin Wushu College,He'nan Dengfeng 452470,China;College of Information and Engineering,He'nan University of Technology,He'nan Zhengzhou 450001,China)

机构地区：[1]嵩山少林武术职业学院信息技术系,河南登封452470 [2]河南工业大学信息科学与工程学院,河南郑州450001

出　　处：《机械设计与制造》2023年第7期223-226,共4页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目—基于生成对抗网络和离子迁移谱的稻米品种及掺假识别建模与算法研究(22A510014)。

摘　　要：装配机械手在开展复杂装配工作时,由于运动路径较为复杂,经常会导致目标定位效果差,影响装配精度。为提升装配机械手的装配精度,提出应用贪婪训练算法的装配机械手定位控制方法。该方法首先依据机械手结构设计机械手动力学方程,构建参数标定模型,引入贪婪训练算法获取机械手的运动学参数;再以此为依据,设计精确的定位控制算法获取机械手的位置误差以及位置变化率;设计模糊控制器对机械手的位置误差以及位置变化率展开实时修正;最后通过控制器的修正输出值实现复杂运动路径下,机械手的高精度定位控制。实验结果表明,使用该方法开展机械手定位控制时,控制效果好。When the assembly manipulator performs complex assembly work,due to the complex movement path,the target positioning effect is often poor,which affects the assembly accuracy.In order to improve the assembly accuracy of assembly manipulator,a positioning control method of assembly manipulator based on greedy training algorithm is proposed.Firstly,the mechanical equation of the manipulator is designed according to the structure of the manipulator,the parameter calibration model is constructed,and the greedy training algorithm is introduced to obtain the kinematic parameters of the manipulator;Based on this,an accurate positioning control algorithm is designed to obtain the position error and position change rate of the manipulator;A fuzzy controller is designed to correct the position error and position change rate of the manipulator in real time;Finally,the high-precision positioning control of the manipulator under the complex motion path is realized by modifying the output value of the controller.The experimental results show that the control effect is good when using this method to carry out robot positioningcontrol.

关 键 词：贪婪训练算法 装配机械手 定位控制方法 逆运动学分析 控制器设计 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]