前馈插值补偿下机器人抓取臂轨迹智能自动控制  

Intelligent automatic control of robot grabbing arm trajectory under feedforward interpolation compensation

作　　者：董琪 奚清泉 印鹏 张大威 DONG Qi;XI Qing-quan;YIN Peng;ZHANG Da-wei(Nanjing CRRC Puzhen Haitai Brake Equipment Co.,Ltd.,Nanjing 210000,China)

机构地区：[1]南京中车浦镇海泰制动设备有限公司,南京210000

出　　处：《信息技术》2025年第3期176-180,共5页Information Technology

摘　　要：机器人抓取臂的柔性动态特性致使关节位置控制偏差增大,具有安全性较低、运动空间小的缺点,产生过高的控制误差。提出一种前馈补偿下机器人抓取臂轨迹智能自动控制方法。构建机器人运动学函数,分析当前状态下的抓取臂轨迹;根据跟踪轨迹的样条曲线划分轨迹区间,通过关键点插值,实现轨迹误差计算。结合确定的自适应控制律以及模糊控制系统,实现机器人抓取臂轨迹自动前馈补偿控制。实验结果表明:前馈插值误差补偿后,关节角运动状态与实际结果接近,轨迹与期望抓取轨迹接近,控制时间短,控制效果好。The flexible dynamic characteristics of the robotic grabbing arm cause an increase in joint position control deviation,which has the disadvantages of low safety and small motion space,resulting in excessive control errors.An intelligent automatic control method for robot grabbing arm trajectory under feedforward compensation is proposed.A robot kinematics function is constructed to analyze the trajectory of the grasping arm in the current state.The trajectory interval is divided based on the spline curve of the tracking trajectory,and the trajectory error calculation is achieved through key point interpolation.By combining the determined adaptive control law and fuzzy control system,automatic feedforward compensation control of robot grabbing arm trajectory is achieved.The experiment results show that after compensating for the feedforward interpolation error,the joint angle motion state is consistent with the actual results,the trajectory is consistent with the expected grasping trajectory,the control time is short,and the control effect is good.

关 键 词：前馈补偿 机器人 抓取臂 控制器设计 轨迹自动控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]