基于关节位置约束的仓储运输机械臂分拣控制  

Sorting Control of Storage and Transportation Manipulator Based on Joint Position Constraint

作　　者：张洁 ZHANG Jie(State Grid Beijing Logistic Supply Company,Beijing 100054,China)

机构地区：[1]国网北京物资公司,北京100054

出　　处：《自动化与仪表》2023年第11期109-114,共6页Automation & Instrumentation

基　　金：国网北京物资公司固资零购项目(Y2022821N003)。

摘　　要：仓储运输机械臂分拣配送路径较为复杂,节点配送模式选择难度较大,难以保证分拣的准确性,为此提出了基于关节位置约束的仓储运输机械臂分拣控制方法。建立各机械连杆坐标系,采用PD控制器负反馈机制,优化操纵任意矢量。通过服务定位协议和射频标识技术构建包裹出库量的时间序列模型,计算仓库系统各功能模块模糊增益,获得包裹分拣的出库数据序列,明确节点配送模式。把关节位置约束问题转换为关节速度约束,将关节速度进行非齐次空间映射,调节关节的位移与权值,完成对关节位置约束校正,实现运输分拣控制。通过实验证明所提方法能够较好实现控制分拣,减少机械臂晃动,保证分拣的准确性。The sorting and distribution path of the storage and transportation manipulator is complex,and the node distribution mode selection is difficult to ensure the accuracy of sorting.Therefore,a sorting control method based on joint position constraint is proposed for the storage and transportation manipulator.The coordinate system of each mechanical linkage is established,and the negative feedback mechanism of PD controller is adopted to optimize the manipulation of any vector.Through the service location protocol and radio frequency identification technology,the time series model of parcel outbound quantity is constructed,the fuzzy gain of each functional module of the warehouse system is calculated,the outbound data sequence of parcel sorting is obtained,and the node distribution mode is defined.The problem of joint position constraint is converted into joint speed constraint,the joint speed is mapped in non-homogeneous space,the displacement and weight of the joint are adjusted,and the joint position constraint is corrected to achieve transportation and sorting control.Experiments show that the proposed method can achieve better control of sorting,reduce the shaking of the mechanical arm,and ensure the accuracy of sorting.

关 键 词：关节位置约束 仓储运输 机械臂分拣控制 特征采样 标识技术 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]