串联机械臂运动控制系统设计

›› 2016, Vol. 29 ›› Issue (3): 71-.

串联机械臂运动控制系统设计

杨广泽,马晓明

(1.兴天通讯技术有限公司工程部,天津 301700;2.广州铁路(集团)公司工务检测所,广东广州 510000)

出版日期:2016-03-15 发布日期:2016-03-18
作者简介:杨广泽(1981—),男,工程师。研究方向:机械设计及其自动化。

Design of Serial Manipulator Motion Control System

YANG Guangze,MA Xiaoming

(1.Engnieering Department,Xingtian Communication Technology Engineering Co.,Ltd.,Tianjin 301700,China;
2.Works Detection,Guangzhou Railway (Group) Company,Guangzhou 510000,China)

Online:2016-03-15 Published:2016-03-18

摘要/Abstract

摘要：

由于加工装配的累积误差,驱动控制,机械臂的柔性变形以及实际工作环境中振动等因素的干扰,导致无法准确获取机械臂的运动学模型和动力学模型,导致机械臂实际的运动性能与期望的高精度运动性能相比出现较大的差距。针对上述问题,文中通过研究串联机械臂轨迹优化算法,设计了一套简单且实时性的机械臂控制变量补偿系统,以减少甚至消除机械臂的运动学误差。这一技术的实现,将对提高装备制造业中机械臂运动精度关键技术的发展起到推动作用。

关键词: 串联机械臂, 轨迹优化, 运动学标定, 变量补偿算法

Abstract:

The accumulated error of processing and assembling,driver control,the flexible deformation of manipulator,and vibration interference and other factors in the work environment make it difficult to obtain accurate manipulator kinematics model and dynamic models,causing a large gap between the manipulator's actual performance and expectations.This paper studies s serial manipulator path optimization algorithm and designs a simple manipulator control variables and real-time compensation technology to reduce (or even eliminate) the serial manipulator kinematic errors.It improves the accuracy of equipment manufacturing arm movement to contribute to the development of key technologies.

Key words: serial manipulator;trajectory optimization;kinematic calibration;variable compensation algorithm

中图分类号:

TP241

杨广泽,马晓明. 串联机械臂运动控制系统设计[J]. , 2016, 29(3): 71-.

YANG Guangze,MA Xiaoming. Design of Serial Manipulator Motion Control System[J]. , 2016, 29(3): 71-.