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为减小机器人在执行轨迹跟踪任务过程中末端产生的位姿误差,在建立机器人轨迹纠偏系统模型的基础上,提出了一种积分型纠偏控制器实现方案.该方案直接在机器人的关节空间上对误差进行补偿.基于前述模型和一系列假设,首先从数学上证明了比例-积分纠偏控制器能够使纠偏误差以负指数收敛,进而说明积分型纠偏控制器的有效性.实验结果表明:通过设置合适的参数,在初始轨迹最大偏差为8 mm的情况下,纠偏控制后偏差均方根值小于0.07 mm,最大值小于0.4 mm.
In order to reduce the pose error of the robot during the execution of the trajectory tracking task, an integral correction controller is proposed based on the robot trajectory correction system model. The scheme is directly related to the joint space of the robot The error is compensated.Based on the above model and a series of assumptions, firstly, it proves mathematically that the proportional-integral controller can make the correction error converge with a negative exponential, and then the validity of the integral controller.Experimental results show that: When the maximum deviation of the initial trajectory is 8 mm, the root mean square deviation (RMSE) of the deviation after the deviation correction control is less than 0.07 mm and the maximum value is less than 0.4 mm.