RBF法在机械臂轨迹偏离控制数学模型中的应用  

Application of RBF Method in Mathematical Model of Trajectory Deviation Control of Manipulator

作　　者：陈瑞 任春光 何俊[1] CHEN Rui;REN Chun-guang;HE Jun(Basic Subject Department,Zhengzhou Shengda University,He’nan Zhengzhou 451191,China;School of Mathematics and Information Science,Zhengzhou University of Light Industry,He’nan Zhengzhou 450002,China)

机构地区：[1]郑州升达经贸管理学院基础部,河南郑州451191 [2]郑州轻工业大学数学与信息科学学院,河南郑州450002

出　　处：《机械设计与制造》2023年第12期240-244,共5页Machinery Design & Manufacture

基　　金：河南省软科学研究计划项目:灰色预测模型的改进及应用研究(142400410809)。

摘　　要：机械臂轨迹偏离控制能够使其准确达到指定位置并完成抓取任务,但在实际控制中,环境扰动因素会影响控制效果。为此,应用RBF法设计了一种新的机械臂轨迹偏离控制数学模型。建立基于机械臂的运动坐标系,求解机械臂运动学逆解,得到机械臂关节角状态。采用多机联合系统测量各个关节角的运行偏差,将偏离量代入到RBF结构中,在训练RBF网络的基础上,考虑非线性摩擦、外界扰动以及动力学模型参数等不确定性,计算补偿控制率。引入自适应调节因子控制机械臂轨迹偏离量。实验结果表明:该模型对不同关节点所处位置的辨识误差较小;不论是否存在扰动,该模型对机械臂位置跟踪控制的效果均较好,机械臂轨迹与期望轨迹重合度较高,说明其能够有效控制机械臂的轨迹偏离情况。The trajectory deviation control of manipulator can make it reach the specified position accurately and complete grasping task,but in actual control,environmental disturbance will affect the control effect.Therefore,a new mathematical model of trajectory deviation control of manipulator was designed based on RBF method.The kinematic coordinate system based on the manipulator was established to solve the inverse kinematics of the manipulator,and the joint Angle state of the manipulator was obtained.The multi-machine joint system was used to measure the operating deviation of each joint Angle,and the deviation was substituted into RBF structure.On the basis of training the RBF network,the compensation control rate was calculated by considering the uncertainties of nonlinear friction,external disturbance and dynamic model parameters.Then,an adaptive adjustment factor was introduced to control the trajectory deviation of the manipulator.Experimental results show that the identification error of different points is small.Regardless of whether there is disturbance or not,the model has a good effect on the position tracking control of the manipulator,and the coincidence degree between the manipulator trajectory and the expected trajectory is high,indicating that the model can effectively control the trajectory deviation of the manipulator.

关 键 词：RBF法 机械臂 轨迹偏离控制 运动学 逆解 坐标系 

分 类 号：TH16[机械工程—机械制造及自动化] TH164