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前置位姿误差预测引导下的机器人目标抓取轨迹跟踪

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  • NETL
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机器人在目标抓取过程中,当前方法以真实误差和标准位置的差值,作为抓取轨迹控制的依据.但是,这种后置性误差计算的方式,忽略了机器人产生真实误差的盲目性,在强干扰下,会造成控制偏差过大,控制幅度过大.提出前置位姿误差预测引导下的机器人目标抓取轨迹分解跟踪方法.匹配抓取目标的容积点,利用Cholesky分解算法将正定对称的真实位姿矩阵,分解为一个下三角矩阵和其转置的乘积.对容积点矩阵进行展开计算,预测下一刻位姿.引入SR-CKF-SLAMOT算法,建立机器人运动模型;利用笛卡尔坐标系投影分拣机器人位姿信息,根据期望位姿与预测位姿差调控目标抓取轨迹,利用前置性误差估计结果,实现对机器人目标抓取轨迹跟踪.实验表明:所提方法目标识别精准度高,目标抓取轨迹控制偏移量小,并准确跟踪机器人运动轨迹.
Robot Target Grasping Trajectory Tracking Guided by Prepose Error Prediction
In the process of robot grasping the target,the current method uses the difference between the true error and the standard position as the basis for grasping trajectory control.However,this post positional error calculation method ignores the blindness of the robot in generating true errors.Under strong interference,it can cause excessive control deviation and control amplitude.A decomposition and tracking method is proposed for robot target grasping trajectory guided by pre pose error prediction.The volume points of the target are matched and captured,and the Cholesky decomposition algorithm is used to decompose the positive definite symmetric real pose matrix into a lower triangular matrix and its transposed product.The volume point matrix is expanded and calculated to predict the next pose.The SR-CKF-SLAMOT algorithm is introduced to establish a robot motion model;the Cartesian coordinate system is used to project and sort robot pose information;the target grasping trajectory is adjusted based on the expected pose and predicted pose difference;and the results of pre-estimation error is utilized to achieve tracking of robot target grasping trajectory.The experiment shows that the proposed method has high accuracy in target recognition,small offset in target grasping trajectory control and accurate tracking of robot motion trajectory.

triangle laser methodSR-CKF-SLAMOT algorithmvolume criterioncholesky decomposition algorithmkadir coordinate system

缪兴华、张淼溶、夏华凤、杨斌、高长水

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泰州学院 机电工程学院,江苏泰州 225300

南京航空航天大学 江苏省精密与微细制造技术重点实验室,南京 210016

泰州学院 泰州市电能变换与控制工程技术研究中心,江苏泰州 225300

三角激光法 SR-CKF-SLAMOT算法 容积准则 Cholesky分解算法 笛卡尔坐标系

2022年江苏省高等学校基础科学(自然科学)研究面上项目2021年泰州市科技支撑计划(社会发展)项目2020年泰州学院高层次人才科研启动基金项目

22KJB130013SSF20210004TZXY2020QDJJ006

2024

机械设计与研究
上海交通大学

机械设计与研究

CSTPCD北大核心
影响因子：0.531
ISSN：1006-2343
年,卷(期)：2024.40(3)