柔性并联机器人非线性摩擦动力学建模与速度规划

发布时间：2018-05-14 07:51

本文选题：柔性并联机器人 + 非线性摩擦　；参考：《农业机械学报》2017年05期

【摘要】：为了实现柔性并联机器人的高速、高精度控制,基于HensensKostic理论,计入关节非线性摩擦力建立了Lagrange动力学误差模型,测试了补偿前后机器人的单点定位误差。基于机构最大速度和加速度约束条件,分析了S型和常用T型2种速度规划算法下机器人的位置误差和速度性能。仿真结果表明:T型速度规划位置和速度跟踪最大误差为78.1μm和11.4 mm/s,而S型速度规划分别是37.8μm和3.72 mm/s,且2个终止点定位误差仅为8.1μm和8.9μm;速度性能方面,S型速度峰值误差变化最大仅为1.74 mm/s,远小于T型速度规划的6.88 mm/s。可见,在高速下S型速度规划算法保证了较高的位置跟踪精度尤其是定位精度,速度尖峰突变小且整体曲线相对平缓,大幅提高了速度跟踪精度和运动平稳性,更易于实现机器人高速、高精度平稳控制。实验测试了机器人连续运动下定点位置误差,仿真所得位置误差小于实测数据,存在100μm左右的误差,但所得结论一致,验证了仿真分析的有效性。
[Abstract]:In order to realize the high speed and high precision control of the flexible parallel robot, based on the HensensKostic theory, the Lagrange dynamic error model is established by taking into account the nonlinear friction force of the joint, and the single point positioning error of the robot before and after compensation is tested. Based on the constraint condition of maximum velocity and acceleration of the mechanism, the position error and velocity performance of the robot under S-type and T-type speed planning algorithms are analyzed. The simulation results show that the maximum error of position and velocity tracking for the T type velocity planning is 78.1 渭 m and 11.4 mm / s, while the S type velocity planning is 37.8 渭 m and 3.72 mm / s, respectively, and the positioning errors of the two termination points are only 8.1 渭 m and 8.9 渭 m. The biggest difference is only 1.74 mm / s, much less than the 6.88 mm / s of the T-type speed plan. It can be seen that the S-type velocity planning algorithm can ensure high position tracking accuracy, especially positioning accuracy at high speed. The sudden change of velocity peak is small and the whole curve is relatively smooth, which greatly improves the speed tracking accuracy and motion smoothness. It is easier to achieve high speed, high precision and stable control of the robot. The experimental results show that the position error of the robot under continuous motion is less than that of the measured data, and the error is about 100 渭 m. However, the results are consistent, and the validity of the simulation analysis is verified.
【作者单位】：天津市先进机电系统设计与智能控制重点实验室;天津理工大学机械工程学院;天津艾利安电子科技有限公司;
【基金】：国家自然科学基金项目(51275353、51275209) 天津市应用基础与前沿技术研究计划重点项目(14JCZDJC39100) 天津市高等学校科技发展基金计划项目(20140401) 天津市智能制造重大科技专项(15ZXZNGX00040、15ZXZNGX00270)
【分类号】：TP242

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