Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

2017 3rd International Conference on Environmental Science and Material Application

生态环境科学;材料科学

Liu, Dalong^1 ; Xu, Lijuan^2

Department of Mechanical and Electrical and Information Engineering, Huali College Guangdong University of Technology, Guangzhou Zengcheng, 511325, China^1

Huashang College Guangdong University of Finance and Economics, Depatment of Information Engineering, Guangzhou Zengcheng

511300, China^2

关键词: Experimental subjects;    Feedback compensation;    Geometric relationships;    Kinematic parameters;    Multi-sensor information fusion;    Optimal control methods;    Optimization control;    Position and orientations;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/108/5/052057/pdf
DOI  :  10.1088/1755-1315/108/5/052057

来源: IOP

【 摘 要 】

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.