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对于频繁启停,高速高加速运动的搬运机器人,其柔性执行末端的残余振动会影响其运动定位精度。现在多通过主动、被动控制方法和单纯考虑运动曲线光滑性的方法对振动进行抑制,但会产生时滞性、控制复杂和受成本材料限制等问题。通过ADAMS进行运动学仿真优化,对比了不同运动曲线对运动定位精度的影响,并对S曲线参数进行优化,将优化获得的非对称S曲线作为运动曲线,实现机器人运动快速平稳。从动力学角度为搬运机器人的运动规划提供了思路。
For the moving robot with frequent start-stop and high-speed and high-speed acceleration, the residual vibration at the end of flexible implementation will affect its positioning accuracy. At present, the vibration is suppressed by the active and passive control methods and the smoothness of the motion curve. However, the problems such as the time lag, the complicated control and the cost-limited materials are many problems. The ADAMS was used to simulate and optimize the kinematics. The influence of different motion curves on the motion localization accuracy was compared. The S-curve parameters were optimized. The unsymmetrical S-curve obtained by the optimization was taken as the motion curve to realize the robot’s fast and stable motion. From the kinetic point of view, it provides a train of thought for the movement planning of the robot.