带电作业环境下双臂机器人机械臂运动轨迹控制  

Motion trajectory control of a dual arm robotic arm in live working environment

作　　者：汪良坤 崔荣卿 张廷金 Wang Liangkun;Cui Rongqing;Zhang Tingjin(Guannan County Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Jiangsu Guannan,223500,China)

机构地区：[1]国网江苏省电力有限公司灌南县供电分公司,江苏灌南223500

出　　处：《机械设计与制造工程》2024年第5期73-77,共5页Machine Design and Manufacturing Engineering

摘　　要：带电作业下静电会产生非正常吸引效应,导致机器人机械臂运动轨迹控制精度降低,为此提出了一种基于粒子群优化专家PID控制器的双臂机器人运动轨迹控制方法。首先构建了带电作业机械臂的动力学模型和机械臂的约束条件方程;然后根据实际值和期望值的误差,使用专家控制律确定了PID控制器的输出;最后利用粒子群算法优化PID控制器,建立了优化目标函数,实现了对双臂机器人机械臂运动轨迹的控制。实验结果表明,该方法能够提高轨迹控制的精度,并缩短轨迹控制时间,在实际工程中具有可行性和实用性。Static electricity during live work can generate abnormal attraction effects,leading to a decrease in the accuracy of robot arm motion trajectory control.Therefore,a dual arm robot motion trajectory control method based on particle swarm optimization expert PID controller is proposed.Firstly,the dynamic model of the live working robotic arm and the constraint equation of the robotic arm are constructed;Then,the expert control law is used to determine the output of the PID controller based on the error between the actual value and the expected value.Finally,the particle swarm optimization algorithm is used to optimize the PID controller and establish an optimization objective function.It achieves the control of the motion trajectory of the dual arm robot arm.The experimental results show that this method can improve the accuracy of trajectory control and shorten the trajectory control time,which is feasible and practical in practical engineering.

关 键 词：带电作业环境 轨迹控制 专家PID控制 粒子群算法 动力模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]