| 实时修正偏移量的循迹机器人控制系统研究 |
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| 引用本文： | 黄,刚.实时修正偏移量的循迹机器人控制系统研究[J].仪器仪表学报,2015,36(11):2538-2547. |
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| 作者姓名： | 黄 刚 |
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| 作者单位： | 太原工业学院电子工程系太原030008 |
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| 基金项目： | 山西省科技攻关项目（20130321014 02）资助 |
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| 摘 要： | 提出一种循迹机器人控制系统，通过实时修正机器人坐标与理想运动轨迹之间的偏移，实现机器人快速、有效的循迹。首先，采用粒子群优化算法规划理想运动轨迹；其次，根据正交落地码盘与陀螺仪实时获取机器人坐标及运动轨迹，经与线性化的理想运动轨迹比对，确定偏移量及方向;最后，将偏移量修正转化为机器人运动速度控制，从而实现了高精度闭环运动控制。实验结果表明，基于该控制系统搭建的机器人平台，线性化的理想轨迹和实际轨迹比对的最大偏差值为50.0 mm，在此偏差值内，实时修正偏移量，机器人能够自动回到线性化的理想轨迹上运行，且运行平稳、舒展，完全保证了机器人所要求完成的终点任务，与现有循迹机器人控制方法相比，提出的循迹机器人控制系统实现了较高精度的循迹与定位。
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| 关 键 词： | 循迹机器人 轨迹规划 偏移量修正 闭环控制 |
Research and implementation of robot tracking control system
based on real time offset correction |
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| Huang Gang.Research and implementation of robot tracking control system
based on real time offset correction[J].Chinese Journal of Scientific Instrument,2015,36(11):2538-2547. |
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| Authors: | Huang Gang |
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| Abstract: | This paper puts forward a control system of tracking robot based on modifying the offset between the robot coordinate and the ideal motion trajectory in real time, the fast and effective robot tracking is achieved. First, the particle swarm optimization algorithm is adopted to plan the ideal motion trajectory. Then, the orthogonal encoders and gyroscope are used to obtain the robot coordinate value and trajectory in real time, which are compared with the linearized ideal motion trajectory to obtain the offset value and direction. At last, the offset value is transformed into the robot motion speed control parameter; and the high accuracy closed loop motion control of the robot is realized. Experiments were conducted, the results show that for the robot platform built based on the proposed control system, the maximum deviation between the linearized ideal motion trajectory and the actual motion trajectory is 50.0mm.Within this acceptable deviation, the offset can be corrected in real time, and the robot can return to the linearized ideal motion trajectory automatically and operate smoothly and steady, which fully ensures the required end mission of the robot. Compared with the existing tracking robot control methods, the proposed tracking robot control system achieves accurate location and tracking. |
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