摘要
由于工业机械手构型与操作空间的非线性关系,操作空间轨迹规划违反了构型空间约束,导致关节驱动器饱和。一旦发生饱和现象,难以准确控制机械手的末端轨迹,控制超调量过高。为解决这一问题,现提出基于模糊补偿的工业机械手末端轨迹跟踪控制方法。通过分析工业机械手的结构,分析机械手不同关节之间的运动关系,提取运动学参数。基于此,定义滑模面函数,设计相应的控制律,防止机械手因约束偏差产生奇异状态。在模糊补偿的作用下,设定隶属度函数,先对输入变量进行模糊化处理。结合设计控制律,计算对应的控制误差,防止饱和的同时构建机械手末端轨迹跟踪控制器。对控制器的控制结果进行解模糊化处理,输出准确度较高的控制结果。实验结果表明,设计的控制方法在实际应用中超调量为4.99%,其能够有效控制机械手末端轨迹的偏差。
Due to the nonlinear relationship between the configuration of industrial robotic arms and the operating space,trajectory planning in the operating space violates the constraints of the configuration space,resulting in saturation of joint actuators.Once saturation occurs,it is difficult to accurately control the end trajectory of the robotic arm and control the overshoot to be too high.To address this issue,a fuzzy compensation based end effector trajectory tracking control method for industrial robotic arms is proposed.By analyzing the structure of industrial robotic arms and the motion relationships between different joints of the robotic arm,the method extracts kinematic parameters.Based on this,define the sliding surface function and design corresponding control laws to prevent the robotic arm from generating singular states due to constraint deviations.Under the action of fuzzy compensation,a membership function is set,and the input variables are first fuzzified.Combined with the design of the control law,the corresponding control error is calculated to prevent saturation while constructing the end effector trajectory tracking controller of the robotic arm.The control results of the controller are deblurred and output with high accuracy.The experimental results show that the designed control method has an overshoot of 4.99%in practical applications,which can effectively control the deviation of the end trajectory of the robotic arm.
作者
常丽园
CHANG Liyuan(Shaanxi Institute of Technology,Shaanxi Xi′an 710300,China)
出处
《工业仪表与自动化装置》
2025年第4期91-95,共5页
Industrial Instrumentation & Automation
关键词
模糊补偿
工业机械手
末端轨迹
跟踪控制
动力学模型
控制器
fuzzy compensation
industrial robotic arm
end trajectory
tracking control
dynamic model
controller
作者简介
第一作者:常丽园(1992-),女,陕西宝鸡人,长安大学研究生,陕西国防工业职业技术学院教师,讲师,研究方向为人工智能、机器视觉及自动化相关的研究。E-mail:1194678001@qq.com。
