基于改进P-RRT^(*)与前馈补偿的机械臂运动控制研究  

Study on robotic arm motion control based on improved P-RRT^(*)with feedforward compensation

作　　者：莘富龙 何顺江[2] Shen Fulong;He Shunjiang(China Enegry Baoshen Railway Co.,Ltd.,Inner Mongolia Ordos,017002,China;School of Electrical Engineering,Southwest Jiaotong University,Sichuan Chengdu,611756,China)

机构地区：[1]国能包神铁路有限责任公司,内蒙古鄂尔多斯017002 [2]西南交通大学电气工程学院,四川成都611756

出　　处：《机械设计与制造工程》2025年第4期69-74,共6页Machine Design and Manufacturing Engineering

摘　　要：针对机械臂运动控制量在执行过程中会产生损失,造成机械臂控制效果与预期效果出现较大误差,无法满足工业制造操作要求的问题,基于改进P-RRT^(*)与前馈补偿进行机械臂运动控制研究。首先建立机械臂运动力学模型,简化柔性关节结构。其次计算运动控制器参数,补偿控制损失,并进行运动力矩前馈补偿;采用双同步控制方案统一控制函数后,利用改进P-RRT*算法优化前馈参数,通过随机树结构探索优化路径;计算控制节点与最优节点,确定代价函数,确保优化效果;整合控制量与优化参数,模型化设计输出,实现机械臂运动轨迹精确控制。最后通过仿真实验证明,研究成果具备提升机械臂控制精准度与准确度的能力,并且实现难度低,效果稳定性与可靠性高,具有较高的市场价值。In response to the problem of significant errors between the control effect and expected effect caused by the loss of motion control variables during the execution of the robotic arm,which cannot meet the requirements of industrial manufacturing operations,research on robotic arm motion control based on improved P-RRT*and feedforward compensation is conducted.It establishes a kinematic model of the robotic arm and simplify the flexible joint structure,calculates the parameters of the motion controller,compensate for control losses,and performs the motion torque feedforward compensation;After adopting a dual synchronous control scheme to unify the control function,the improved P-RRT^(*)algorithm is used to optimize the feedforward parameters,and the optimization path is explored through a random tree structure.It calculates the control node and optimal node,determines the cost function,and ensures the optimization effect.It integrates the control variables and optimize parameters,model design outputs,and achieve precise control of the motion trajectory of the robotic arm.Finally,simulation experiments are conducted to demonstrate that the proposed method has the ability to improve the precision and accuracy of robotic arm control.The method has low implementation difficulty,high stability and reliability,and high market value.

关 键 词：改进P-RRT^(*) 前馈补偿 机械臂 运动控制 

分 类 号：TM773[电气工程—电力系统及自动化]