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Industrial robot trajectory tracking control algorithm

An industrial robot and trajectory tracking technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc.

Pending Publication Date: 2020-09-18
JIANGSU COLLEGE OF INFORMATION TECH
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an industrial robot trajectory tracking control algorithm in order to overcome the unfavorable consequences caused by factors such as unmodeled characteristics of the industrial robot system, joint friction gaps and unknown loads. The robot non-singular terminal sliding mode trajectory tracking control algorithm includes the following steps:

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Embodiment Construction

[0049] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.

[0050]The invention provides an industrial robot trajectory tracking control algorithm, specifically adopts the industrial robot non-singular terminal sliding mode trajectory tracking control algorithm, including the following steps:

[0051] Step 1: Use the Lagrange equation to obtain the dynamic model of the SCARA four-axis industrial robot:

[0052]

[0053] In the formula, q, and Represent the 4×1 joint variable, joint variable velocity and joint variable acceleration vector; M is the 4×1 inertia matrix; C is the 4×4 Coriolis force and centrifugal force matrix; τ is the 4×1 joint moment; τ d is a 4×1 disturbance moment including joint load, external disturbance, friction moment and unmodeled characteristics; a 1 ...

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Abstract

The invention relates to an industrial robot trajectory tracking control algorithm. The algorithm is based on a fast continuous non-singular terminal sliding mode control strategy optimized with a Cuckoo algorithm, and a reference trajectory of poses of a robot end executor is planned by means of a Cuckoo algorithm optimizing mechanism; and the control strategy is supported by a lyapunov stabilitytheory and adopts a continuous non-singular terminal sliding mode surface to compensate the uncertainty with an inhibiting system and outside disturbance, a fast terminal sliding mode reaching law isintroduced to increase the response speed of a system, and dead zones and other non-linear factors in a system are compensated in combination with an Anti-Windup technology. By means of the control method, the SCARA robot trajectory tracking control accuracy can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot trajectory tracking control algorithm. Background technique [0002] With the development of robotics, information technology, control theory and other disciplines, industrial robots are widely used in intelligent manufacturing, intelligent equipment and intelligent factories, and are important carriers and means to realize Industry 4.0 (Zhang et al. ASensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot [J]. IEEE Transactions on Industrial Informatics, 2019, 15(9): 5204-5213.). As a common four-axis tandem robot arm in the industry, the SCARA robot has 3 rotating joints and 1 moving joint, which can realize the stability of vertical operation and the flexibility of horizontal operation, which is very suitable for vertical tasks. In recent years, the trajectory tracking control of SCARA robots has been a hot t...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 郑雪芳
Owner JIANGSU COLLEGE OF INFORMATION TECH
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