基于大数据聚类的搬运机器人抓取末端控制系统设计
Design of the Control System for the Grab End of the Handling Robot Based on Big Data Clustering
毛开梅 1邹星2
作者信息
- 1. 西安铁路职业技术学院电子信息学院,陕西西安 710014
- 2. 西安铁路职业技术学院教务处,陕西西安 710014
- 折叠
摘要
为提高搬运机器人抓取效率,避免损伤货物,设计了基于大数据聚类的搬运机器人抓取末端控制系统.利用主控制器和驱动控制器平稳控制机器人运行,通过在末端执行器内安装红外扫描装置、集成锁相环路解码器LM567,判断货物是否处于抓取末端内部.使用FRS-402敏感电阻,降低力敏感电阻值,提高抓取的稳定性,完成系统硬件设计.基于大数据聚类拟合控制信号,降低数据维度并提取特征向量.通过匀速抓取、反馈减速以及应力松弛3步,实现搬运机器人抓取末端控制系统设计.实验结果表明,所设计系统能够有效减小抓取位置误差,提高搬运效率,降低货物损失.
Abstract
In order to improve the grasping efficiency of the handling robot and avoid damage to the goods,a handling robot grasping end control system based on big data clustering is designed.The main controller and drive controller are used to stably control the operation of the robot.By installing an infrared scanning device and an integrated phase-locked loop decoder LM567 in the end actuator,it is possible to judge whether the goods are inside the grab end.FRS-402 sensitive resistor is used to reduce the value of force sensitive resistor,improve the stability of grasping,and complete the hardware design of the system.The control signal is fitted based on big data clustering,the data dimension is reduced and the feature vec-tor is extracted.Through three steps of constant speed grasping,feedback deceleration and stress relaxa-tion,the design of the grasping end control system of the handling robot is realized.The experimental re-sults show that the designed system can effectively reduce the grasping position error,improve the han-dling efficiency and reduce the loss of goods.
关键词
大数据聚类/搬运机器人/抓取末端控制/自适应控制/传感技术Key words
big data clustering/handling robot/grab end control/adaptive control/sensing technology引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据