食品协作机器人动态目标抓取控制方法研究  

Research on dynamic target grasping control method for food collaborative robot

作　　者：程鹏飞 刘明堂[2] 孙晨 CHENG Pengfei;LIU Mingtang;SUN Chen(Henan Vocational College of Water Conservancy and Environment,Zhengzhou,Henan 450000,China;North China University of Water Resources and Electric Power,Zhengzhou,Henan 450045,China;Henan Agricultural University,Zhengzhou,Henan 450002,China)

机构地区：[1]河南水利与环境职业学院,河南郑州450000 [2]华北水利水电大学,河南郑州450045 [3]河南农业大学,河南郑州450002

出　　处：《食品与机械》2024年第1期95-100,共6页Food and Machinery

基　　金：河南省高等学校重点科研项目计划(编号:23A413009)。

摘　　要：目的:解决目前协作机器人在食品动态目标抓取中存在的准确性较低问题。方法:基于协作机器人体系结构,提出将模糊自整定PID控制和鲁棒自适应补偿器相结合用于协作机器人食品动态目标抓取。PID结合模糊控制完成参数自整定,鲁棒算法与自适应算法相结合用于系统不确定性补偿。通过试验分析了所提方法的性能,验证了该方法的可行性。结果:所提方法在协作机器人动态目标抓取中具有较好的效果,提高了协作机器人动态抓取的准确性,在传送带速度100 mm/s时,动态抓取成功率达到99.50%,对食品动态目标抓取具有一定的应用价值。结论:通过优化现有目标抓取控制方法,可有效提高协作机器人的抓持精度。Objective:Solve the problem of low accuracy of collaborative robots in food dynamic target grasping at present.Methods:Based on the architecture of collaborative robots,a combination of fuzzy self-tuning PID control and robust adaptive compensator was proposed for collaborative robot food dynamic target grasping.PID combined with fuzzy control to achieve parameter self-tuning,and robust algorithm combined with adaptive algorithm for system uncertainty compensation.The performance of the proposed method was analyzed through experiments,verifying its feasibility.Results:The proposed method had good results in the dynamic target grasping of collaborative robots,improving the accuracy of dynamic grasping.At a conveyor belt speed of 100 mm/s,the success rate of dynamic grasping reaches 99.50%,which had certain application value for food dynamic target grasping.Conclusion:By optimizing existing target grasping control methods,the grasping accuracy of collaborative robots can be effectively improved.

关 键 词：协作机器人 动态目标抓取 模糊自整定PID控制 鲁棒自适应补偿器 抓取控制方法 

分 类 号：TS205[轻工技术与工程—食品科学] TP391.41[轻工技术与工程—食品科学与工程] TP242[自动化与计算机技术—计算机应用技术]