孟传伟, 蒋平, 陈辉堂, 王月娟. 一种考虑控制精度的机器人最优轨迹规划方案[J]. 机器人, 2000, 22(3): 211-216.
引用本文: 孟传伟, 蒋平, 陈辉堂, 王月娟. 一种考虑控制精度的机器人最优轨迹规划方案[J]. 机器人, 2000, 22(3): 211-216.
MENG Chuan-wei, JIANG Ping, CHEN Hui-tang, WANG Yue-juan. AN OPTIMAL TRAJECTORY PLANNING SCHEME FOR MANIPULATORS BASED ON CONTROL PRECISION[J]. ROBOT, 2000, 22(3): 211-216.
Citation: MENG Chuan-wei, JIANG Ping, CHEN Hui-tang, WANG Yue-juan. AN OPTIMAL TRAJECTORY PLANNING SCHEME FOR MANIPULATORS BASED ON CONTROL PRECISION[J]. ROBOT, 2000, 22(3): 211-216.

一种考虑控制精度的机器人最优轨迹规划方案

AN OPTIMAL TRAJECTORY PLANNING SCHEME FOR MANIPULATORS BASED ON CONTROL PRECISION

  • 摘要: 本文提出一种考虑控制精度的机器人轨迹规划方案.首先从运动的平稳性出发,将轨迹按弧坐标均匀采样,将各采样分段规划为匀变速运动;然后从工程角度分析了跟踪误差与控制器输出力矩的关系,提出根据控制误差对关节力矩进行模糊加权的二次规划方案,实验结果验证了该方法的有效性.

     

    Abstract: This paper proposed a trajectory planning scheme combining the robot dynamics and constrained joint torque. With the objective of the robot′s steady movement, the trajectory is sampled equably and each segment is considered as uniformly variable motion. To guarantee tracking precision, the relation between the tracking control error and the output torque of the controller is analyzed from the point of engineering. Then an effective replanning scheme is presented, where fuzzy logic is used to weight the maximum joint torque according to the control error. The experiments on a robot show the feasibility of the scheme.

     

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