基于非线性优化算法的工业机器人轨迹跟踪自动控制

为完成机器人高效率工业生产任务,提出一种基于非线性优化算法的工业机器人轨迹跟踪自动控制方法。考虑杆件运动重力因素,从角速度、加速度等方面明确工业机器人动力学规律;使用具备非线性优化性质的蚁群算法规划运动轨迹,引入人工势场法计算待选节点和目标节点的间距,评估当前路径是否为最佳路径并更新信息素,输出最优工业机器人运行路线;计算机器人相对功率因数校正控制量,运用粒子群算法求解轨迹跟踪预测控制序列,通过支持向量机构建轨迹跟踪自动控制模型。实验结果表明,所提方法的轨迹跟踪稳定性强、精度高,能满足工业生产的实时动态需求,实用性强。

Automatic Trajectory Tracking Control of Industrial Robot Based on Nonlinear Optimization Algorithm

In order to complete the high-efficiency industrial production tasks of robots , an automatic control method for industrial robot trajectory tracking based on nonlinear optimization algorithm is proposed.Considering the gravity factor of rod motion , the dynamic laws of industrial robots are clarified in terms of angular velocity , acceleration ,etc. ; the ant colony algorithm with nonlinear optimization properties is used to plan the motion trajectory , and the artificial potential field method is introduced to calculate the distance between the candidate node and the target node , and evaluate whether the current path is the best path and update the pheromone , output the optimal operating route of the industrial robot ; calculate the relative power factor correction control amount of the robot is calclated , the particle swarm algorithm is used to solve the trajectory tracking prediction control sequence , and the trajectory tracking automatic control model is constructed through the support vector machine.The experimental results show that the proposed method has strong robot trajectory tracking stability and high precision , can meet the real-time dynamic requirements of industrial production , and has strong practicability.