Scara robot trajectory tracking control method based on predictive indirect iterative learning

Abstract

The invention discloses an SCARA robot trajectory tracking control method based on prediction indirect iterative learning. Aiming at the problem that users are not allowed to compensate torque signals output by a servo drive of an alternating-current motor under most conditions in actual engineering, the SCARA robot trajectory tracking control method based on prediction indirect iterative learning is proposed. Firstly, a double-closed loop feedback controller directly acted on a robot body is designed, and includes a P type position closed loop and a PI type speed closed loop; and then, a prediction iterative learning controller (A-ILC) with a feedforward effect is designed, and a control effect at the sampling time t in next operation is adjusted by using error output information at the sampling time t+delta in previous operation batches. Compared with a proportional differential iterative learning controller (PD-ILC), the A-ILC is faster in iterative convergence speed and higher in tracking precision; and compared with an A-ILC without the feedforward effect, the A-ILC with the feedforward effect can eliminate external disturbance more quickly and effectively.

Description

Technical field [0001] The invention belongs to the field of high-precision trajectory tracking control of SCARA robots, and specifically relates to a SCARA robot trajectory tracking control method based on predictive indirect iterative learning. Background technique [0002] Robotics is a high and new technology that integrates mechanism, electronic technology, computer technology, sensor technology, cybernetics, artificial intelligence and other disciplines. The design of the robot control system involves servo drives, motion control, computer software, etc. Among them, the SCARA robot is a complex multiple-input multiple-output system with time-varying, strong coupling and nonlinear dynamic characteristics, and has been widely used in actual production, such as cutting, welding, gluing, etc., these applications are all Need to track a fixed trajectory repeatedly with high precision. The trajectory tracking control of the robot means that the position, speed and other state v...

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Problems solved by technology

[0006] The present invention aims at the problem that in engineering practice, after the internal parameters of the AC motor servo driver are set, they generally cannot be modified online, and in most cases the user is not allowed to compensate the torque signal output by the driver, in order to improve the accuracy and anti-interference ability, a SCARA robot trajectory tracking control method based on predictive indirect iterative learning is proposed

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