机器人捕捉运动目标的时间最优控制方法

对机器人的运动目标捕捉过程进行了研究,提出了用Ak im a样条函数对运动学求逆后的目标轨迹进行平滑的方法,使得轨迹在关节坐标系下得到解耦。通过模糊Bang-Bang控制机器人,使末端以时间最优的方式接近运动目标。当机器人关节位置与期望位置小于给定阈值时,采用带积分的模糊随动控制,使得每个关节相对独立地到达期望位置,并最终实现运动目标捕捉任务。结果表明,该方法简单有效,可快速稳定地实现运动目标捕捉任务。

Robot Arm Grasping Moving Object Based on Time Optimization

The paper studied the robot to grasp the moving object.A method of smoothing the object trajectory by Akima spline function after inverse kinematics calculation is presented.The trajectory is decoupled in the coordinate system of joint.The robot arm can reach the moving object by time-optimal fuzzy Bang-Bang control.When the joint position close enough to the expectation value,a fuzzy tracking control with an integral item is adopted.Each joint can reach the expected position independently to finish moving object grasping.The results show that the method is easy to use and can realize the moving object grasping fast and stably.