机器人轨迹纠偏控制方法研究

Robot Trajectory Rectification Control Methods

  • 摘要: 为减小机器人在执行轨迹跟踪任务过程中末端产生的位姿误差,在建立机器人轨迹纠偏系统模型的基础上,提出了一种积分型纠偏控制器实现方案.该方案直接在机器人的关节空间上对误差进行补偿.基于前述模型和一系列假设,首先从数学上证明了比例-积分纠偏控制器能够使纠偏误差以负指数收敛,进而说明积分型纠偏控制器的有效性.实验结果表明:通过设置合适的参数,在初始轨迹最大偏差为8mm的情况下,纠偏控制后偏差均方根值小于0.07mm,最大值小于0.4mm.

     

    Abstract: To reduce the pose error of the robot end during trajectory tracking, an implementation of the integral-type rectification controller is proposed based on the robot trajectory rectification model. In the proposed method, the error is compensated directly in the joint space of the robot. Based on the aforementioned model and a series of assumptions, it is proved mathematically that the rectification error converges with a negative exponent by adopting the proportional-integral rectification controller, which demonstrates the effectiveness of the integral-type rectification controller. The experiment results show that in the case of the initial trajectory deviation of 8 mm, the RMS (root mean square) value and the maximum value of the tracking deviation are reduced to less than 0.07 mm and 0.4 mm respectively through setting appropriate parameters for the rectification controller.

     

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