基于闭环和前馈控制的高速食品分拣机器人控制技术

目的：满足当前对食品分拣机器人速度和精度的需求。方法：基于高速并联食品分拣机器人的系统体系结构，提出一种将传统的运动学闭环控制和力矩前馈控制相结合的高速并联食品分拣机器人控制方法；在原有遗传算法整定PID控制参数的基础上，引入力矩前馈控制方法进行动态控制；对比分析系统的动态跟踪精度和关节力矩，并验证该控制方法的优越性。结果：与传统PID控制相比，最大和平均关节位置跟踪误差降低了65％以上，最大轨迹误差降低了50%以上。结论：该控制方法可以有效提高高速运行时抑制动态干扰的能力。

Control technology of high speed food sorting robot based on closed loop and feedforward control

Objective: in view of the current situation that the food sorting robot has higher and higher requirements for speed and precision. Methods: Based on the system architecture of high-speed parallel food sorting robot, a control method of high-speed parallel food sorting robot is proposed, which combines the traditional closed-loop control of kinematics with the feedforward control of torque; Based on the original genetic algorithm tuning PID control parameters, the torque feedforward control method is introduced for dynamic control; The dynamic tracking accuracy and joint torque of the system are compared and analyzed, and the superiority of the control method is verified. Results: compared with the traditional PID control, the maximum and average joint position tracking error is reduced by more than 65%, and the maximum trajectory error is reduced by more than 50%. Conclusion: The dynamic disturbance can be suppressed significantly under the control method when the sorting robot works at high speed.