热加工用机械手末端轨迹跟踪控制方法研究

分析机械手横纵向移动、旋转和伸缩等不同动作的动力学,利用拉格朗日法构建机械手动力学模型,以此计算热加工作业时机械手末端移动轨迹误差。考虑机械手移动惯性、重力和向心力角位移等多重因素,设计前馈控制器,将移动轨迹点作为神经网络训练集,通过多次迭代完善轨迹点数据库,利用距离加权法修正轨迹点值,通过控制机械手末端惯性问题完成机械手末端轨迹跟踪控制。仿真实验证明,所提方法路径跟踪误差小,控制稳定性好、响应快,可适用范围广。

Research on End Trajectory Tracking Control Method of Manipulator for Hot Working

Analysis of the manipulator transverse longitudinal move , rotate , scale , such as the dynamics of different actions , manipulator dynamics model was constructed by using Lagrange method , to calculate the hot working operations manipulator end mobile trajectory error , consider manipulator moving inertia , multiple factors such as gravity , centrifugal force angular displacement , feedforward controller is designed , moving track points as neural network training set , The trajectory point database is improved through several iterations , the trajectory point value is corrected by distance weighting method , and the trajectory tracking control of manipulator end is accomplished by controlling the inertia problem of manipulator end. The simulation results show that the proposed method has small path tracking error , good control stability , fast response and wide application range.