SCARA robot trajectory tracking control method based on internal model

A trajectory tracking and control method technology, applied in the direction of control using feedback, can solve problems such as single adjustment parameters, and achieve the effects of simple system parameter adjustment, improved effect, improved trajectory tracking accuracy and anti-interference ability.

Inactive Publication Date: 2014-04-16
JIANGNAN UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to design a SCARA robot control based on the principle of internal model to solve the problem of whether the SCARA robot can meet the trajectory tr...

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  • SCARA robot trajectory tracking control method based on internal model
  • SCARA robot trajectory tracking control method based on internal model
  • SCARA robot trajectory tracking control method based on internal model

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0022] The basic idea of ​​the present invention is to provide a trajectory tracking control method of a SCARA robot based on an internal model: it does not need to know the precise mathematical model of the controlled object; and it has strong robustness, high tracking accuracy, and fast tracking speed ; And the control structure is simple, and the parameter adjustment is single. The present invention first carries out dynamic model modeling to SCARA robot, obtains the estimated value of SCARA robot moment of inertia, centripetal force and Coriolis moment, gravitational moment; Use it as the estimation model of internal model pair object. Then, in order to ensure the stability and robustness of the system and make the st...

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Abstract

The invention provides an SCARA robot trajectory tracking control method based on an internal model. According to the method, an accurate mathematic model of a controlled object does not need to be known, robustness is high, tracking accuracy is high, tracking velocity is high, the control structure is simple, and parameter adjustment is unitary. To enable the steady state error of a system to be zero, a filter f needs to be added into a control circuit, the parameter Lambda in the filter is the adjusting parameter of the whole system, the response time and control accuracy of the system can be adjusted, parameter adjustment is simple and clear, and system performance is excellent.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of a SCARA robot, and specifically refers to proposing a method for designing a robot controller using an internal model control principle in order to make the SCARA robot have excellent trajectory tracking performance under the condition of large external interference. This method has a simple structure and superior control performance, and can keep the steady-state error zero under the condition of time-varying signals and external disturbances. Background technique [0002] Robot technology integrates theories and technologies in basic and high-tech disciplines such as machinery, electronics, computers, automatic control, and artificial intelligence. The design of the robot body needs to consider issues such as material selection, mass distribution, and size optimization. It requires the application of three-dimensional modeling, finite Meta-analysis, kinematics and dynamics analysis,...

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Application Information

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IPC IPC(8): G05D3/12
Inventor 白瑞林赵登步许凡张涛曹沁婕
Owner JIANGNAN UNIV
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