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Robot locus tracking method

A trajectory tracking and robot technology, applied in the direction of instruments, non-electric variable control, adaptive control, etc., can solve the problems that the robot's range of motion is not considered, and it is difficult for the robot to achieve the control effect, and achieve the effect of precise trajectory tracking control

Active Publication Date: 2018-06-29
SHANGHAI ELECTRICGROUP CORP
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Problems solved by technology

[0003] In the prior art, for robot trajectory tracking control, the robot is generally controlled according to the robot's kinematics model and dynamics model, without considering the range of motion of the robot in the corresponding working environment and the dynamic characteristics of the robot's drive system , making it difficult for the trajectory tracking control of the robot to achieve the desired control effect in actual control

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0045] In a preferred embodiment of the present invention, as Figure 1-3 As shown, a robot trajectory tracking method is provided, the robot is controlled by a drive system to run in an actual running trajectory, and the actual running trajectory includes a plurality of trajectory nodes, such as figure 1 shown, including the following steps:

[0046] The target tracking trajectory of the robot is preset, and the target tracking trajectory includes a plurality of tracking trajectory nodes;

[0047] Step S1. Construct the kinematics model of the robot according to the joint variables of the robot and the geometric parameters between the connecting rods, and obtain the end position model of the robot according to the kinematics model;

[0048] Step S2, establishing a robot dynamics model with dr...

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Abstract

The present invention discloses a robot locus tracking method, and belongs to the technical field of robot control. A robot kinematic model is constructed according to geometrical parameters between each joint variable of the robot and a connecting rod, and a robot tail-end position model is obtained according to the kinematic model; a robot kinetic model with driving system parameters is established; a prediction model for predicting an actual tail-end position of the robot is established according to the tail-end position model and the robot kinetic model; and a non-linear prediction controller is established according to the prediction model, a first constrained condition of the joint variables and a second constrained condition of an input voltage of a drive system. According to the kinematic model and the kinetic model of the robot, and the dynamics of the driving system of the robot and the constraint problem of a work environment where the robot is located, the non-linear prediction controller of robot locus tracking control is established to allow the locus tracking control of the robot to be more accurate and to better meet the actual application demand.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot trajectory tracking method. 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, optimization theory and other means. The control system of the robot involves servo drive, motion control, computer software, etc. The human-computer interaction system of the robot needs to adopt a high-performance embedded system, and needs to consider safety and ease of operation. Robot trajectory tracking control refers to making the robot's position, speed and other state variables track a g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05B13/048G05D1/0212
Inventor 吕燕蒋劲峰薛佩姣张洪洋胡佳俊杨忠林褚人宇潘炳伟
Owner SHANGHAI ELECTRICGROUP CORP
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