基于多传感器的工业机械臂精细化操作远程控制方法

为实现远程控制工业机械臂时的精细化操作,使其关节轨迹具有连续、平稳、光滑的控制效果,提出基于多传感器的工业机械臂精细化操作远程控制方法。优化传感器的布局,以便采集信息;利用新息变化野值检测方法消除工业机械臂精细化操作中存在的野值,提高关节角度与速度信息的完整性和精度;将滑模控制与神经网络结合,消除因非线性、摩擦非线性和未知参数等不确定性因素对机械臂精细化操作的影响,构建工业机械臂操作远程控制器,实现工业机械臂精细化操作的远程控制。实验结果表明,所提方法可精准控制工业机械臂的关节角度与速度,具有较高的灵活性和高效性。

Remote Control Method for Fine Operation of Industrial Robotic Arm Based on Multi-sensor

In order to realize the refinement operation in remote control of industrial robotic arm and make its joint trajectory with continuous , smooth and smooth control effect , a multi-sensor-based remote control method for refinement operation of industrial robotic arm is proposed.The layout of sensors is optimized to collect information.The innovation changed outlier detection method is used to eliminate the outliers in the fine operation of industrial manipulator and improve the integrity and accuracy of joint angle and speed information.The synovial membrane control and neural network are combined to eliminate the influence of uncertain factors such as nonlinearity , friction nonlinearity and unknown parameters on the fine operation of the manipulator , and the remote controller of the industrial manipulator is constructed to realize the remote control of the fine operation of the industrial manipulator.Experimental results show that the proposed algorithm can accurately control the joint angle and speed of industrial manipulator , and has high flexibility and efficiency.