In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on...In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.展开更多
车辆轨迹跟踪精度是目前智能驾驶技术发展的瓶颈问题之一。影响车辆轨迹跟踪精度的因素很多,从模型离散化处理参数-采样时间间隔和初始航向角入手,研究对自动驾驶车辆的轨迹跟踪精度影响规律。采用车辆二自由度动力学模型,基于模型预测...车辆轨迹跟踪精度是目前智能驾驶技术发展的瓶颈问题之一。影响车辆轨迹跟踪精度的因素很多,从模型离散化处理参数-采样时间间隔和初始航向角入手,研究对自动驾驶车辆的轨迹跟踪精度影响规律。采用车辆二自由度动力学模型,基于模型预测控制算法(the model predictive control,MPC)控制车辆进行轨迹跟踪。仿真结果表明,采样时间间隔对轨迹跟踪横向偏差影响较大,而航向角对跟踪偏差影响较小。展开更多
基金Project(2015AA043003)supported by National High-technology Research and Development Program of ChinaProject(GY2016ZB0068)supported by Application Technology Research and Development Program of Heilongjiang Province,ChinaProject(SKLR201301A03)supported by Self-planned Task of State Key Laboratory of Robotics and System(Harbin Institute of Technology),China
文摘In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.
文摘车辆轨迹跟踪精度是目前智能驾驶技术发展的瓶颈问题之一。影响车辆轨迹跟踪精度的因素很多,从模型离散化处理参数-采样时间间隔和初始航向角入手,研究对自动驾驶车辆的轨迹跟踪精度影响规律。采用车辆二自由度动力学模型,基于模型预测控制算法(the model predictive control,MPC)控制车辆进行轨迹跟踪。仿真结果表明,采样时间间隔对轨迹跟踪横向偏差影响较大,而航向角对跟踪偏差影响较小。
