摘要
针对机械臂各轴差异造成的空间轮廓误差问题,提出基于法向同步误差补偿的多轴同步控制策略。该方案分别在关节空间和笛卡尔空间中将跟踪误差正交分解为法向同步误差和切向延时误差,其中法向同步误差等价于轮廓误差,代表实际位置调整至期望轮廓的最短路径,是跟踪效果的主影响项。因此,通过设计法向同步误差补偿算法减小法向同步误差,并证明算法的稳定性。与传统方案相比,提出方案无累积误差,不受各轴给定量级差异影响,空间轮廓误差更小,更适合变曲率轨迹跟踪控制。最后设计仿真实验,试验结果表明该方案可改进各轴协同控制效果,并大幅提升多轴系统轨迹跟踪精度。
Aiming at the problem of spatial contour error caused by the difference of each axis of the manipulator,a multi-axis synchronization control strategy based on normal synchronization error compensation was proposed.The scheme decomposes the tracking error orthogonally into normal synchronization error and tangential delay error in joint space and Cartesian space respectively,where the normal synchronization error was equivalent to the contour error,which represented the shortest path from the actual position to the desired contour,is the main influence item of the tracking effect.Therefore,the normal synchronization error was reduced by designing a normal synchronization error compensation algorithm,and the stability of the algorithm was proved.Compared with the traditional scheme,the proposed scheme has no cumulative error,is not affected by the difference of the given magnitude of each axis,and has smaller spatial contour error,which is more suitable for variable curvature trajectory tracking control.Finally,a simulation experiment was designed,and the experimental results show that the scheme can improve the cooperative control effect of each axis and greatly improve the trajectory tracking accuracy of the multi-axis system.
作者
赵寒冰
罗欣
钟启明
周翰
ZHAO Hanbing;LUO Xin;ZHONG Qiming;ZHOU Han(Naval Armament Department,Chengdu 610213,China;School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China)
出处
《微电机》
2023年第2期61-65,共5页
Micromotors
关键词
多轴机械臂
轨迹跟踪
多轴同步控制
法向同步误差补偿
multi-axis manipulator
trajectory tracking
multi-axis synchronization control
normal synchronization error compensation
