UR机器人运动学与奇异摄动算法研究

李影<sup>1</sup>,王波<sup>1</sup>,曹成涛<sup>2</sup>

doi:10.13718/j.cnki.xsxb.2018.09.011

西南师范大学学报(自然科学版)

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UR机器人运动学与奇异摄动算法研究

李影1,王波1,曹成涛2. UR机器人运动学与奇异摄动算法研究[J]. 西南师范大学学报(自然科学版), 2018, 43(9): 65-73. doi: 10.13718/j.cnki.xsxb.2018.09.011

引用本文:

李影¹,王波¹,曹成涛². UR机器人运动学与奇异摄动算法研究[J]. 西南师范大学学报(自然科学版), 2018, 43(9): 65-73. doi: 10.13718/j.cnki.xsxb.2018.09.011

LI Ying1, WANG Bo1, CAO Cheng-tao2. On Kinematics and Singular Perturbation Algorithm of UR Robot[J]. Journal of Southwest China Normal University(Natural Science Edition), 2018, 43(9): 65-73. doi: 10.13718/j.cnki.xsxb.2018.09.011

Citation:

LI Ying¹, WANG Bo¹, CAO Cheng-tao². On Kinematics and Singular Perturbation Algorithm of UR Robot[J]. Journal of Southwest China Normal University(Natural Science Edition), 2018, 43(9): 65-73. doi: 10.13718/j.cnki.xsxb.2018.09.011

UR机器人运动学与奇异摄动算法研究

李影¹,王波¹,曹成涛²

1. 仰恩大学工程技术学院, 福建泉州 362014;
2. 华南理工大学自动化科学与工程学院, 广州 510640

On Kinematics and Singular Perturbation Algorithm of UR Robot

LI Ying¹, WANG Bo¹, CAO Cheng-tao²

1. College of Engineering and Technology, Yann University, QuanzhouFujian 362014, China;
2. School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China

摘要: 首先分析了UR机器人的机械结构；其次通过数值迭代法对UR机器人的逆运动学进行了求解，严格控制了算法的精度和速度，验证了算法的正确性和快速性；再次提出了一种基于奇异摄动的控制方法，通过振动抑制方法将系统分为快慢两个子系统，实现降阶作用；最后绘制了正、逆运动算法的机械臂轨迹曲线，同时针对降阶后的系统设计控制器进行系统分析.实验结果验证了算法的有效性和精确性.
- 六自由度 /
- UR机器人 /
- 运动学仿真 /
- D-H法 /
- 奇异摄动
Abstract: In this paper, UR robot's motion control and singular perturbation algorithm are studied in depth. First, paper analyses mechanical structure of the UR robot; secondly, the inverse kinematics of UR robot are solved through numerical iteration method, and verify the correctness and speed of algorithm based on strictly control the accuracy and speed of the algorithm. Then, a control method is proposed based on singular perturbation, the system is divided into two fast and slow subsystems to achieve reduction effect through the vibration suppression method. Finally, the manipulator trajectory curve is drawn to base on forward and inverse kinematics algorithm, and system controller reduction order. Experimental results verify the effectiveness and accuracy of the proposed algorithm.
- six DOF /
- UR robot /
- Kinematics simulation /
- D-H method /
- singular perturbation .

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UR机器人运动学与奇异摄动算法研究

李影¹,王波¹,曹成涛²

1. 仰恩大学工程技术学院, 福建泉州 362014;
2. 华南理工大学自动化科学与工程学院, 广州 510640

收稿日期: 2018-02-12

关键词:

摘要: 首先分析了UR机器人的机械结构；其次通过数值迭代法对UR机器人的逆运动学进行了求解，严格控制了算法的精度和速度，验证了算法的正确性和快速性；再次提出了一种基于奇异摄动的控制方法，通过振动抑制方法将系统分为快慢两个子系统，实现降阶作用；最后绘制了正、逆运动算法的机械臂轨迹曲线，同时针对降阶后的系统设计控制器进行系统分析.实验结果验证了算法的有效性和精确性.

English Abstract

On Kinematics and Singular Perturbation Algorithm of UR Robot

1. 仰恩大学工程技术学院, 福建泉州 362014;
2. 华南理工大学自动化科学与工程学院, 广州 510640

Received Date: 2018-02-12

Keywords:

Abstract: In this paper, UR robot's motion control and singular perturbation algorithm are studied in depth. First, paper analyses mechanical structure of the UR robot; secondly, the inverse kinematics of UR robot are solved through numerical iteration method, and verify the correctness and speed of algorithm based on strictly control the accuracy and speed of the algorithm. Then, a control method is proposed based on singular perturbation, the system is divided into two fast and slow subsystems to achieve reduction effect through the vibration suppression method. Finally, the manipulator trajectory curve is drawn to base on forward and inverse kinematics algorithm, and system controller reduction order. Experimental results verify the effectiveness and accuracy of the proposed algorithm.