曲面雕刻机器人的自适应迭代学习控制研究  

Research on adaptive iterative learning control of parallel robot for sculpting surfaces

作　　者：李祖明[1] LI Zuming(College of Electromechanical and Automotive Engineering,Qingyuan Polytechnic,Qingyuan 511510,Guangdong,China)

机构地区：[1]清远职业技术学院机电与汽车工程学院,广东清远511510

出　　处：《中国工程机械学报》2024年第5期626-630,共5页Chinese Journal of Construction Machinery

基　　金：2020年广东省智能机器人产教融合创新平台资助项目(2020CJPT034);2021年广东省质量工程资助项目(GDJG2021375);2020年广东省智能测控技术科研创新团队资助项目(2020KCXTD065)。

摘　　要：为解决现有曲面雕刻平台存在运动误差较大且运动控制精度低的问题,本文以3-PRR并联曲面雕刻机器人为研究对象,对机器人的输出轨迹跟踪控制精度展开研究。采用闭环矢量法求解机器人反解运动学方程和雅可比矩阵。应用拉格朗日法建立并联机器人动力学方程,针对并联机器人在考虑干扰的情况下,建立了一种基于PD反馈结构的控制增益随迭代次数变化的自适应迭代学习控制策略,并采用联合数值仿真方法对机器人的稳定性及轨迹控制跟踪精度进行了验证。结果表明:当跟踪轨迹的最大误差降低为0.000115 mm时,可以实现3-PRR并联曲面雕刻机器人的高精度跟踪期望轨迹。验证了该控制策略的有效性,为实现曲面雕刻平台的高精度运动控制定位奠定了理论基础和应用前景。To solve the problem of large motion errors and low motion control accuracy in existing surface sculpting platforms,this paper takes the 3-PRR parallel surface sculpting robot as the research object and studies the tracking control accuracy of the robot’s output trajectory.The closed-loop vector method is used to solve the inverse kinematics equation and Jacobian matrix of the robot.The Varangian method is applied to establish the dynamic equation of the parallel robot.An adaptive iterative learning control strategy based on PD feedback structure is established for the parallel robot considering interference.The stability and trajectory control tracking accuracy of the robot are verified using joint numerical simulation method.The results show that the maximum error of the tracking trajectory is reduced to 0.000115 mm,which can achieve high-precision tracking of the desired trajectory of the 3-PRR parallel surface sculpting robot,verifying the effectiveness of the control strategy and laying a theoretical foundation and application prospect for realizing high-precision motion control positioning of the surface sculpting platform.

关 键 词：3-PRR并联机器人 动力学 自适应迭代学习法 轨迹跟踪 

分 类 号：TH133.33[机械工程—机械制造及自动化]