摘要
为了提高柔性关节机器人抓取末端振动控制精度,该文提出柔性关节机器人抓取末端振动自动化控制方法。对柔性关节机器人展开系统动力学分析,构建奇异摄动模型定义柔性关节机器人系统的运动方程。设计柔性关节机器人的优化控制器,构建控制误差代价函数。利用拉格朗日法获取函数最优解,实现柔性关节机器人抓取末端振动自动化控制。实验结果表明,该方法能够有效抑制柔性关节机器人末端振动信号,相位控制误差均在0.02°以内,抑振措施的上升时间低于7.66 s,末端控制精准度高、效率高、性能好。
In order to improve the control accuracy of flexible joint robot grasping end vibration,an automatic control method of flexible joint robot grasping end vibration is proposed.The system dynamics of the flexible joint robot is analyzed,and the singular perturbation model is constructed to define the motion equation of the flexible joint robot system.Design an optimized controller for flexible joint robots and construct a control error cost function.Utilizing the Lagrangian method to obtain the optimal solution of the function,achieving automatic control of the end vibration of flexible joint robots during grasping.The experimental results show that the proposed method can effectively suppress the end vibration signal of flexible joint robots,with phase control errors within 0.02°.The rise time of vibration suppression measures is less than 7.66 s,and the end control accuracy is high,efficiency is high,and performance is good.
作者
熊宇
曾贵娥
崔晓
XIONG Yu;ZENG Guie;CUI Xiao(Faculty of Electronic Information Engineering,Guangdong Baiyun University,Guangzhou 510450,China)
出处
《自动化与仪表》
2023年第9期51-55,91,共6页
Automation & Instrumentation
基金
2019年广东省重点研究发展计划项目(2021ZDLSF06-02)
广东省教育厅2019年广东省本科高校教学质量与教学改革工程建设项目《电气工程及其自动化》特色专业建设项目(CXQX-ZL201901)。
