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为了提高机器人自动控制的鲁棒性,降低不确定因素的干扰,提出一种基于激光导航的机器人自动装配控制方法。首先采用末端效应逆运动学分解模型构建机器人装配控制的约束参量模型,进行机器人自动装配的非线性动力学分析。然后采用激光导航方法进行机器人装配的运动学结构分析,运用七自由度空间重构方法进行机器人装配流水线的激光导航模拟,实现自动装配控制律的优化设计。最后进行控制模型仿真实验分析,结果表明,采用该方法进行机器人自动装配控制的稳定收敛性较好,通过激光导航控制使得装配误差收敛到零,整个装配控制系统的鲁棒性较高。
In order to improve the robustness of robot automatic control and reduce the interference of uncertain factors, a robotic automatic assembly control method based on laser navigation is proposed. Firstly, the constrained parametric model of robot assembly control is constructed by using the inverse kinematics decomposition model of end effect, and the nonlinear dynamic analysis of robotic assembly is carried out. Then the laser navigation method is used to analyze the kinematic structure of the robot assembly. The laser navigation simulation of robot assembly line is carried out by using seven degrees of freedom space reconstruction method to realize the optimal design of the automatic assembly control law. Finally, the simulation experiment of the control model is carried out. The results show that the proposed method has good stability and convergence, and the assembly error is reduced to zero by laser navigation control. The robustness of the whole assembly control system is high.