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Robot trajectory tracking method and device

A trajectory tracking and robot technology, applied in the direction of electrical program control, digital control, etc., can solve problems such as the instability of the closed-loop system of the robot, and achieve the effect of ensuring stability and reducing the approach speed

Inactive Publication Date: 2019-05-31
HEBEI COLLEGE OF IND & TECH
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robot trajectory tracking method and device to solve the technical problem of unstable robot closed-loop system existing in the prior art

Method used

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  • Robot trajectory tracking method and device
  • Robot trajectory tracking method and device

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specific Embodiment approach

[0087] Optionally, as a specific implementation of the robot trajectory tracking device provided in the embodiment of the present invention, the method for determining the linear velocity control law includes:

[0088]

[0089] Among them, θ d for:

[0090]

[0091] Among them, u 1 is the horizontal axis position tracking control law, u 2 is the vertical axis position tracking control law.

[0092] Optionally, as a specific implementation of the robot trajectory tracking device provided in the embodiment of the present invention, the method for determining the attitude control law includes:

[0093]

[0094] Among them, w is the attitude control law, is the current target direction angle, k θ is the direction integration time, s θ is the direction integral sliding mode surface, η θ is the first direction control coefficient;

[0095] Among them, sat(s θ )for:

[0096]

[0097] Among them, φ(s θ ) is the boundary given for the introduction of boundary la...

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Abstract

The invention provides a robot trajectory tracking method and device. The method is applied to a double closed-loop sliding mode controller. The method comprises the steps of: based on a fast power approaching law a control law, determining a horizontal axis position tracking control law and a vertical axis position tracking control law of a robot; according to the horizontal axis position tracking control law and the vertical axis position tracking control law, determining a linear velocity control law of the robot; based on a saturation function exponential approach law, determining a posture control law of the robot; and according to the linear velocity control law and the posture control law, performing robot trajectory tracking. The robot trajectory tracking method and device can effectively guarantee the stability of the closed-loop system of the robot.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and more specifically relates to a robot trajectory tracking method and device. Background technique [0002] The control system of the robot involves servo drive, motion control, computer software, etc. The trajectory tracking control of the robot refers to making the state variables such as the position and speed of the robot track the given ideal trajectory by giving the driving torque of each joint. For the entire trajectory It is the most widely used control method in industrial production. However, since the robot system is a complicated multi-input and multi-output nonlinear system with time-varying, strong coupling and nonlinear dynamic characteristics, trajectory tracking control is very complicated and difficult. It is of great significance to the robot technology to study robot trajectory tracking control and improve the precision of trajectory tracking control. [0003] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 王丽佳韩提文温彬彬陈旭凤
Owner HEBEI COLLEGE OF IND & TECH
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