摘要
为提高6自由度液压机器人末端执行器位置跟踪精度,设计了增量式非线性逆控制方法,并对机器人末端执行器位置跟踪误差进行仿真验证。创建了6自由度液压并联机器人简图,对液压驱动系统进行建模,推导出液压流量方程式。针对传统非线性逆控制方法进行改进,设计了增量式非线性逆控制方法。采用Matlab软件对6自由度液压机器人末端执行器跟踪误差进行仿真,并与传统非线性逆控制方法对比。结果显示:采用非线性逆控制方法,机器人末端执行器运动位置跟踪误差较大;采用增量式非线性逆控制方法,跟踪误差较小。采用增量式非线性逆控制方法,可提高机器人末端执行器运动的稳定性和输出精度。
In order to improve the position tracking accuracy of the end effector of a six degree of freedom hydraulic robot,an incremental nonlinear inverse control method was designed and simulated to verify the position tracking error of the robot’s end effector.Created a schematic diagram of a six degree of freedom hydraulic parallel robot,modeled the hydraulic drive system,and derived the hydraulic flow equation.An incremental nonlinear inverse control method has been designed to improve the traditional nonlinear inverse control method.Simulate the tracking error of the end effector of a six degree of freedom hydraulic robot using Matlab software,and compare it with traditional nonlinear inverse control methods.The results show that using nonlinear inverse control method,the tracking error of the robot’s end effector motion position is relatively large;By using an incremental nonlinear inverse control method,the tracking error of the robot’s end effector motion position is relatively small.The use of incremental nonlinear inverse control method can improve the stability and output accuracy of the robot’s end effector motion.
作者
李亚昆
崔战友
LI Yakun;CUI Zhanyou(School of Mechanical and Electrical Engineering,Zhengzhou University of Industrial Technology,Zhengzhou 451100,Henan,China)
出处
《中国工程机械学报》
北大核心
2023年第6期596-599,606,共5页
Chinese Journal of Construction Machinery
基金
河南省科技攻关项目(222102210155)
河南省隧道工程机械工程技术研究中心项目(豫科实[2022]1号)。
关键词
增量式
非线性逆控制方法
机器人
误差
仿真
incremental
nonlinear inverse control method
robot
error
simulation
作者简介
李亚昆(1988-),男,讲师,硕士。E-mail:yanyan20050905@163.com。
