基于线性二次型最优控制的机器人示教数据处理系统设计  

Design of Robot Teaching Data Processing System Based on Linear Quadratic Optimal Control

作　　者：周紫菱 汤卿[1] 姚进[1] ZHOU Ziling;TANG Qing;YAO Jin(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《控制工程》2023年第10期1846-1851,共6页Control Engineering of China

基　　金：四川省科技计划项目(2020YFG0116)。

摘　　要：针对机器人拖动示教过程中传感器采集的数据含有噪声的问题,提出了一种基于线性二次型最优控制的运动轨迹控制器。首先,针对机器人关节运动特性建立状态空间模型,并设计相应的性能指标;然后,采用线性二次型最优控制设计最优控制律和相应的控制系统;最后,以Franka Emika机器人为示教对象进行实验,将机器人自身传感器采集的数据作为最优控制系统的输入,将系统输出用于机器人的运动控制,完成机器人拖动示教。实验结果表明,线性二次型最优控制方法能有效抑制传感器采集数据的噪声,较好地将关节速度、加速度和急动度的幅值控制在合理范围内,使处理后的数据能更好地应用于机器人的拖动示教。In order to solve the problem of noise in the data collected by sensors in the process of robot dragging and teaching,a motion trajectory controller based on linear quadratic optimal control is proposed.Firstly,the state space model is established according to the motion characteristics of the robot joints and the required performance indicators are designed.Then,the optimal control law and the corresponding control system are designed by using linear quadratic optimal control.Finally,the Franka Emika robot is used as the teaching object in the experiment.The data collected by the robot's own sensor are used as the input of the optimal control system,and the system output is used for the motion control of the robot to complete the dragging and teaching of the robot.The experimental results show that the linear quadratic optimal control method can effectively suppress the noise of the data collected by the sensor,and the amplitudes of the joint velocity,acceleration and jerk are controlled in a reasonable range,so that the processed data can be better applied to the robot dragging and teaching.

关 键 词：机器人示教 线性二次型最优控制器 滤波 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]