桶装水码垛机器人关节空间最优运动控制  

Optimal motion control for a palletizing robot applied for bottled water in joint space

作　　者：王洪波 姚嘉凌[2] WANG Hongbo;YAO Jialing(College of Transportation and Safety,Jiangsu College of Safety Technology,Xuzhou 221011,China;College of Automobile and Traffic Engineer,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]江苏安全技术职业学院交通与安全学院,徐州221011 [2]南京林业大学汽车与交通工程学院,南京210037

出　　处：《现代制造工程》2023年第11期33-39,共7页Modern Manufacturing Engineering

摘　　要：针对桶装水码垛机器人关节空间最优运动控制问题,提出一种基于改进萤火虫算法的超螺旋滑模控制策略。首先,利用DH参数法建立码垛机器人运动学模型,并通过Lagrange方程推导出其动力学模型;接着,采用三次多项式将码垛机器人在笛卡尔空间中的位姿转换成光滑连续的关节空间运动轨迹;进而,设计超螺旋滑模控制器实现各关节对参考轨迹的快速精准跟踪;同时,以综合时间与绝对误差为目标评价函数,引入改进萤火虫算法来整定所设计控制器中的参数,实现关节空间最优运动控制;最后,通过典型仿真算例验证了所设计控制方法的有效性和优越性。仿真结果表明,所设计控制器的响应速度、跟踪精度及调整时间要优于积分滑模控制器,并能有效抑制系统抖振。For the problem of optimal motion control in the joint space of the palletizing robot applied for bottled water,a super-twisting sliding mode control strategy based on the improved glowworm swarm optimization algorithm was proposed.First,the kinematic model of the palletizing robot was established by using the DH parameter method,and its dynamics model was derived by the Lagrange equation.Then,a cubic polynomial was used to convert the palletizing robot′s posture in Cartesian space into a smooth and continuous joint space motion trajectory.Then,the super-twisting sliding mode controller was designed to achieve fast and accurate tracking of the reference trajectory by each joint.At the same time,an improved glowworm swarm optimization algorithm was introduced to adjust the parameters in the designed controller to achieve the optimal joint-space motion control with the integrated time and absolute error as the target evaluation function.Finally,the effectiveness and superiority of the designed control method are verified by a typical simulation example.The simulation results show that the response speed,tracking accuracy and adjustment time of the designed controller are better than those of the integral sliding mode controller,and can effectively suppress the system chattering.

关 键 词：码垛机器人 滑模控制 超螺旋算子 参数整定 萤火虫算法 最优控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]