摘要
排爆机器人在复杂、危险环境下代替人作业拥有非常重要的地位。排爆机器人对期望轨迹的跟踪是避免发生危险最重要的环节。基于模型预测控制算法提出了排爆机器人末端轨迹跟踪算法。给出了机械臂状态空间的离散模型,已知当前时刻位置状态和下一时刻位置输入状态,预测未来某时域内的输出状态;然后根据给定性能指标和约束条件,求解未来一段时域内的输入序列,对实际输出进行反馈校正;最后,采用实验仿真对比测试,验证了该算法的有效实时性,结果表明,基于模型预测控制的机器人末端轨迹跟踪算法具有良好的动态实时跟踪能力,实现了目标轨迹的有效跟踪。
EOD robot replaces human work in complex and dangerous environments,thus has a very important position.EOD robot' s tracking for the desired trajectory is the most important link to avoid danger.This paper proposed the end trajectory tracking algorithm of EOD robot based on MPC.A discrete model of the state space of the mechanical arm is given.According to the recent position state and the status of the next position entry,the future output state in a time domain will be shown.The input sequences in the future time domain will be found based on the given performance specifications and constraints.After doing that,feedback correction can be added to the real output.At last,experiments were carried out to verify the effectiveness of the proposed algorithm.The results show that,the end trajectory tracking algorithm of EOD robot based on MPC has good dynamic real-time tracking ability,and achieves effective tracking for target trajectory.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2016年第S1期1-6,共6页
Chinese Journal of Scientific Instrument
基金
国家科技支撑计划(2015BAF01B02)
山东省科技重大专项(2015ZDXX0801A02)项目资助
关键词
模型预测控制
排爆机器人
轨迹跟踪控制
model predictive control
explosive ordnance disposal
trajectory tracking control
