摘要
提出一种机器人动态误差在线补偿方法,用以提高机器人的轨迹精度。在机器人参数误差得到离线补偿之后,基于ANFIS构建自适应模糊神经网络轨迹控制器,建立在线补偿系统控制模型,通过ADAMS与Matlab的协同仿真对系统仿真分析;仿真结果验证了所提出方法的可行性。在自主研发制造的六轴工业机器人的平台上,借助于API激光跟踪仪对机器人末端跟踪测量,进行实验分析;实验结果验证了该方法的有效性。
This paper presents an online compensation method for dynamic error of robot, to improve the precision of the robot＇ s traj- ectory. After the robot parameter error getting offline - compensation, a self - adaptive fuzzy neural network trajectory controller as well as the online - compensation system control model is built based on ANFIS, through co - simulation of ADAMS and MATLAB, a simu- lation analysis of system is conducted ; the results verify the feasibility of the proposed method. In the six - axis independently developed and manufactured industrial robot platform, the verification experiment is performed and analyzed by means of API Laser Tracker track- ing and measuring the end of the robot, and the results demonstrate the effectiveness of the presented method.
出处
《控制工程》
CSCD
北大核心
2014年第5期638-642,共5页
Control Engineering of China
基金
2011年上海市重大技术装备研制专项(ZB-ZBYZ-03-11-1709)
