摘要
写字机器人是当前重要的实用机器人之一,为了实现机器人手臂写字功能。此次研究对写字机器人手臂进行了运动学分析,设计了新的机器人运行程序。新程序使用控制器和混合控制,搭建了写字机器人手臂书写控制的仿真模型。新模型能够模拟机器人写字动作,模拟真实机器人工作流程。实验结果表明,通过对仿真模型和写字控制系统的数据测试,使用新程序的写字机器人在书写流畅度和美观度都有所提升,在预测机器人书写轨迹的前期会出现预测偏差值在1~1.2左右。因此,使用控制程序能够使机器人的手臂控制能力得到提升,书写能力得到提升,这对于后续提升写作机器人控制的流畅性具有重要价值。
Writing robots are currently one of the important practical robots,in order to achieve the function of robot arm writing.This study conducted kinematic analysis on the arm of a writing robot and designed a new robot running program.The new program uses a controller and hybrid control to build a simulation model for the writing control of a writing robot arm.The new model can simulate the writing movements of robots and simulate the workflow of real robots.The experimental results show that through data testing of the simulation model and writing control system,the writing robot using the new program has improved its writing fluency and aesthetics.In the early stage of predicting the robot's writing trajectory,there will be a prediction deviation value of around 1-1.2.Therefore,using control programs can improve the robot’s arm control ability and writing ability,which is very valuable for improving the smoothness of writing robot control in the future.
作者
王三敏
党红利
李泽宇
WANG Sanmin;DANG Hongli;LI Zeyu(Shangluo University,Shangluo Shaanxi 726000,China;Shaanxi University of Technology,Hanzhong Shaanxi 723001,China;Northeast Forestry University,Harbin 150040,China)
出处
《自动化与仪器仪表》
2024年第4期180-184,共5页
Automation & Instrumentation
基金
陕西省教育厅项目(15JK1229)。
