摘要
传统的控制方法没有充分考虑工业集装箱生产线码垛机器人运动过程中,连杆间的复杂关系和运动误差积累等因素,导致机器人的轨迹控制中出现冲突,只能以延迟平衡点等待时间的模式完成轨迹控制,缺少对平衡点的灵活调整过程。因此,提出一种工业集装箱生产线机器人轨迹控制方法。采用密码散列函数建立机器人运动的数学模型,计算四个连杆的坐标乘积并设定矩阵,求得各个连杆在标准状态下加速度和位姿,查找当下位姿与目标位姿间的最低误差并转换为条件函数。计算机器人在不同工况下到达目标点的位姿和关节角速度变化,设定一个超限范围并求解在范围内的机器人与平衡点间差值,按照制约关系实现适当调整。采用粒子群优化算法在轨迹范围内查找目标点,将位置与加速度等值实现模态拟合,得到一个最终的控制阈值,按照阈值实现合理控制。实验证明该方法控制精准度高,轨迹角度和距离的控制效果好。
Traditional control methods have not fully considered the complex relationship between linkages and the accumulation of motion errors during the movement of palletizing robots on industrial container production lines,resulting in conflicts in the trajectory control of the robots.The trajectory control can only be completed in a delayed equilibrium point waiting time mode,lacking a flexible adjustment process for the equilibrium point.There is a lack of flexible adjustment process for the equilibrium point,and the disadvantages are obvious.Therefore,a trajectory control method for industrial container production line robots is proposed.Using a cryptographic hash function to establish a mathematical model of robot motion,calculating the coordinate product of four linkages and setting a matrix,obtaining the acceleration and pose of each link in the standard state,searching for the minimum error between the current pose and the target pose,and converting it into a conditional function.Calculate the pose and joint angular velocity changes of the robot reaching the target point under different working conditions,set an exceeding range,and solve the difference between the robot and the balance point within the range.Adjust appropriately according to the constraint relationship.Using particle swarm optimization algorithm to search for target points within the trajectory range,achieving modal fitting by equating position and acceleration,obtaining a final control threshold,and implementing reasonable control according to the threshold.The experiment proves that this method has high control accuracy and good control effects on trajectory angles and distances.
作者
武交峰
WU Jiaofeng(Guangdong Polytechnic of Environmental Protection Engineering,Guangdong Foshan 528216,China)
出处
《工业仪表与自动化装置》
2024年第5期71-75,101,共6页
Industrial Instrumentation & Automation
基金
2022年广东省继续教育质量提升工程优质继续教育网络课程可编程控制器原理及应用(JXJYGC2022GX082)。
关键词
码垛机器人
运动单元轨迹控制
密码散列函数
粒子群优化
模态拟合
palletizing robot
motion unit trajectory control
password hash function
particle swarm optimization
modal fitting
