食品协作机器人动态目标抓取控制方法研究
Research on dynamic target grasping control method for food collaborative robot
程鹏飞 1刘明堂 2孙晨3
作者信息
- 1. 河南水利与环境职业学院,河南 郑州 450000
- 2. 华北水利水电大学,河南 郑州 450045
- 3. 河南农业大学,河南郑州 450002
- 折叠
摘要
目的:解决目前协作机器人在食品动态目标抓取中存在的准确性较低问题.方法:基于协作机器人体系结构,提出将模糊自整定PID控制和鲁棒自适应补偿器相结合用于协作机器人食品动态目标抓取.PID结合模糊控制完成参数自整定,鲁棒算法与 自适应算法相结合用于系统不确定性补偿.通过试验分析了所提方法的性能,验证了该方法的可行性.结果:所提方法在协作机器人动态目标抓取中具有较好的效果,提高了协作机器人动态抓取的准确性,在传送带速度100 mm/s时,动态抓取成功率达到99.50％,对食品动态目标抓取具有一定的应用价值.结论:通过优化现有目标抓取控制方法,可有效提高协作机器人的抓持精度.
Abstract
Objective:Solve the problem of low accuracy of collaborative robots in food dynamic target grasping at present.Methods:Based on the architecture of collaborative robots,a combination of fuzzy self-tuning PID control and robust adaptive compensator was proposed for collaborative robot food dynamic target grasping.PID combined with fuzzy control to achieve parameter self-tuning,and robust algorithm combined with adaptive algorithm for system uncertainty compensation.The performance of the proposed method was analyzed through experiments,verifying its feasibility.Results:The proposed method had good results in the dynamic target grasping of collaborative robots,improving the accuracy of dynamic grasping.At a conveyor belt speed of 100 mm/s,the success rate of dynamic grasping reaches 99.50％,which had certain application value for food dynamic target grasping.Conclusion:By optimizing existing target grasping control methods,the grasping accuracy of collaborative robots can be effectively improved.
关键词
协作机器人/动态目标抓取/模糊自整定PID控制/鲁棒自适应补偿器/抓取控制方法Key words
collaborative robots/dynamic target capture/fuzzy self-tuning PID control/robust adaptive compensator/grab control method引用本文复制引用
基金项目
河南省高等学校重点科研项目计划(23A413009)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据