电子元器件装配机器人关节跟随控制与仿真  

Joint Following Control and Simulation of Electronic Component Assembly Robot

作　　者：王仕廉 唐仕喜 黄哲 高心悦 WANG Shi-lian;TANG Shi-xi;HUANG Zhe;GAO Xin-yue(School of Computer Science and Technology,Nanjing University of technology,Nanjing Jiangsu 211816,China;School of Information Engineering,Yancheng Teachers University,Yancheng Jiangsu 224007,China)

机构地区：[1]南京工业大学计算机科学与技术学院,江苏南京211816 [2]盐城师范学院信息工程学院,江苏盐城224007

出　　处：《计算机仿真》2024年第1期479-484,共6页Computer Simulation

基　　金：国家自然基金面上项目(51875266)。

摘　　要：针对装配机器人控制轨迹跟随性不好,提出了基于机器人关节跟随策略的电子元器件装配柔顺控制模型。将装配机器人关节相对角度误差和相对角速度误差作为控制系统的状态变量,并设计机械臂三关节跟随控制器,使用Matlab/Simulink对上述电子元器件装配柔顺控制模型进行分析并验证三关节跟随控制器的有效性。仿真结果表明,基于机器人关节跟随策略的电子元器件装配柔顺控制模型比传统PID控制系统模型精度误差显著减少,控制在0.05rad以内,能更有效地解决装配精度误差偏大的问题,同时结合机械臂三关节跟随控制方法,增强了电子元器件装配系统的稳定性,保证电子元器件机器人装配的质量。In view of the poor tracking performance of the assembly robot,a flexible control model for electronic components assembly based on the joint tracking strategy of the robot is presented in the paper.The relative angle error and relative angular velocity error of the joints of the assembly robot were used as the state variables of the control system,and the three-joint following controller of the manipulator was designed.The above model of the electronic component assembly compliance control was analyzed using MATLAB/Simulink,and the validity of the three-joint following controller was verified.The simulation results show that the electronic component assembly compliance control model based on robot joint following strategy significantly reduces the accuracy error of the traditional PID control system model,controlled within 0.05rad,and can more effectively solve the problem of large assembly accuracy error.At the same time,combined with the three-joint following control method of the robotic arm,the stability of the electronic component assembly system is enhanced,ensuring the quality of electronic component robot assembly.

关 键 词：装配机器人 机械臂 关节跟随 神经网络 控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]