摘要
针对机器人运动过程中由于滑动等因素导致的轨迹偏移问题,出于通过数学模型分析及算法优化提高机器人轨迹控制精度的目的,提出一种机器人轨迹自动优化数学模型构建以及高精度构建的方法;通过狄克斯特拉(Dijkstra)算法进行路径规划,为提高路径规划效率及准确性采用跳点搜索及动态规划对算法进行改进,结合模型预测控制方法优化机器人的轨迹跟踪控制能力,期望实时调整控制输入,提高机器人控制系统的鲁棒性;设计了验证数学模型及优化控制系统有效性的相关实验,实验结果中设计机器人轨迹优化控制系统可以快速及时地进行机器人姿态的调整,控制姿态波动幅度,同时能够进行更加高效的路径规划,表明机器人控制系统能够具有更好的轨迹优化效果,控制精度更高。
In order to solve the problem of trajectory deviation caused by sliding and other factors in the process of robot move-ment,a method of automatic mathematical model construction and high-precision construction of robot trajectory was proposed for the purpose of improving the accuracy of robot trajectory control through mathematical model analysis and algorithm optimization.In order to improve the efficiency and accuracy of path planning,hop search and dynamic programming were used to improve the algorithm,and the trajectory tracking control ability of the robot was optimized by combining the model predictive control method,and the control input was expected to be adjusted in real time to improve the robustness of the robot control system.In the experimental results,the robot trajectory optimization control system is designed to quickly and timely adjust the robot's attitude,control the attitude fluctuation amplitude,and carry out more efficient path planning,which shows that the robot control system can have better trajectory optimiza-tion effect and higher control accuracy.
作者
程其勇
CHENG Qiyong(Office of Academic Affairs,Sichuan Institute of Industrial Technology,Deyang,Sichuan 618500,China)
出处
《自动化与仪器仪表》
2025年第5期149-154,共6页
Automation & Instrumentation
作者简介
程其勇(1982-),男,四川德阳人,硕士,副教授,研究方向为从事高等数学与现代信息化教育教学改革研究。
