目的 自动化流水线的分拣包装机器人因常规滑模变结构控制的抖振和变扰动,会出现机械损耗、精度下降、能量浪费、响应延迟等现象,导致其工作效率降低,为此对平面结构冗余并联机器人展开动力学及控制研究。方法 首先,对平面结构冗余并联机器人的构型进行数学描述,并分别采用封闭解法和虚功原理建立其运动学及动力学方程;其次,设计分拣机器人的滑模面方程及自适应滑模控制器,并通过Lyapunov函数分析其稳定性,建立机器人的控制框图和Matlab仿真模型;最后,预设不同的机器人动平台末端运动轨迹,分别采用一般控制策略、滑模控制策略和自适应滑模控制策略对其进行轨迹追踪仿真实验研究。结果 采用3种方法对简单预设轨迹的追踪结果误差分别为1.262、0.036、1.833×10-4 mm,对复杂预设轨迹的追踪结果误差分别为1.159、0.026 8、1.210×10-4 mm。结论 采用自适应滑模控制策略可以对新型平面结构冗余分拣机器人的运动追踪轨迹进行准确控制,且控制平稳,滑模控制策略次之,一般控制策略最差。自适应滑模控制策略具有更强的抑制模型不确定性和外界扰动的能力,实现了机器人实时精确控制运动轨迹精度的提升,且为并联机器人的实时控制系统的研究提供了理论基础。
Abstract
The work aims to study the dynamics and control of planar redundant parallel robots to solve the problem of low accuracy and work efficiency of sorting and packaging robots in automatic assembly lines due to the chattering and variable disturbance of conventional sliding mode variable structure control. Firstly, the configuration of the planar redundant parallel robot was described mathematically, and its kinematics and dynamics equations were established according to the closed solution and virtual work principle respectively; Secondly, a sliding mode surface equation and adaptive sliding mode controller of the sorting robot was designed, and its stability was analyzed by Lyapunov function, and a control block diagram and a Matlab simulation model of the robot were established; Finally, the trajectory tracking simulation experiments of different robot moving platform end motion trajectories were carried out according to the general control strategy, the sliding mode control strategy and the adaptive sliding mode control strategy. The tracking errors of simple preset trajectory under the three methods were 1.262, 0.036, 1.833×10-4 mm; The tracking errors of complex preset trajectories were 1.159, 0.026 8, 1.210×10-4 mm, respectively. The adaptive sliding mode control strategy can accurately control the motion tracking trajectory of the new structure redundant sorting robot, and the control is stable. The sliding mode control strategy is the second, and the general control strategy is the worst; The adaptive sliding mode control strategy has a stronger ability to suppress the model uncertainty and external disturbance, improving the accurate real-time control of its motion trajectory and providing a theoretical basis for the research of the real-time control system of the parallel robot.
关键词
分拣机器人 /
结构冗余 /
自适应滑模控制器 /
轨迹追踪
Key words
planar parallel robots /
structural redundancy /
adaptive sliding mode controller /
trajectory tracking
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