双臂机器人的轨迹跟踪控制方法研究

针对工件在实际加工中打磨空间局限、精度不高等问题，为提高机器人作业的轨迹跟踪效果，提出一种双臂机器人轨迹跟踪控制方法。以轮毂打磨为研究背景，主从架构中夹持机器人采用PD控制，夹持待打磨工件进行位置跟踪运动控制；打磨机器人采用基于位置的阻抗控制，实现力控和末端位置补偿，提高定位精度。基于MATLAB/Simulink设计仿真模型验证可行性，并完成实验验证。实验结果表明：当机器人末端在外界干扰力作用下，能自适应地跟踪及修正轨迹，满足双臂机器人轨迹跟踪控制的要求。

Research on Trajectory Tracking Control Method of Dual-arm Robot

In order to solve the problem of grinding space limitation and low precision of workpiece in actual machining and improve the trajectory tracking effect of robot operation, a dual-arm robot trajectory tracking control method was proposed. Taking the hub grinding as the research background, PD control was adopted on the master-slave gripper robot to grip the grinding workpiece for controlling the position of tracking movement. The impedance control with a based position was used in the grinding robot to realize the force control and end position compensation and improve positioning accuracy. A simulation model was designed based on MATLAB/Simulink to verify the feasibility through the comparison between simulation results and finished experiment. The experimental results show that when the end of the manipulator is under the action of external interference force, it can track and correct the trajectory adaptively and meet the requirements of the trajectory tracking control of the dual-arm robot.