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A Method for Robot Trajectory Tracking

A trajectory tracking and robot technology, which is applied in the directions of instruments, adaptive control, control/regulation systems, etc., can solve the problems of not considering the motion range of the robot, the robot is difficult to achieve the control effect, etc., and achieve the effect of accurate trajectory tracking control.

Active Publication Date: 2021-10-01
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

Method used

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  • A Method for Robot Trajectory Tracking
  • A Method for Robot Trajectory Tracking
  • A Method for Robot Trajectory Tracking

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Embodiment Construction

[0046] 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.

[0047] 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:

[0048] The target tracking trajectory of the robot is preset, and the target tracking trajectory includes a plurality of tracking trajectory nodes;

[0049] 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;

[0050] Step S2, establishing a robot dynamics model with dr...

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Abstract

The invention discloses a robot trajectory tracking method, which belongs to the technical field of robot control. A kinematics model of the robot is constructed according to the joint variables of the robot and geometric parameters between connecting rods, and an end position model of the robot is obtained according to the kinematics model; A robot dynamics model with drive system parameters; according to the end position model and the robot dynamics model, a prediction model for predicting the actual end position of the robot is established; Two constraints are used to build a nonlinear predictive controller. The beneficial effects of the above-mentioned technical scheme are: according to the kinematics model of the robot, the dynamics model, and the dynamics of the drive system of the robot and the constraints of the working environment where the robot is located, a nonlinear predictive controller for the trajectory tracking control of the robot is established, so that The trajectory tracking control of the robot is more precise and more in line with the actual application requirements.

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 Patents(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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