文章摘要
郭新兰,姚利娜.基于RBF-BP算法的工业机械臂轨迹控制与跟踪[J].机床与液压,2021,49(3):41-46.
GUO Xinlan,YAO Lina.Trajectory Control and Tracking of Industrial Manipulator Based on RBF-BP Algorithm[J].Machine Tool & Hydraulics,2021,49(3):41-46
基于RBF-BP算法的工业机械臂轨迹控制与跟踪
Trajectory Control and Tracking of Industrial Manipulator Based on RBF-BP Algorithm
  
DOI:10.3969/j.issn.1001-3881.2021.03.009
中文关键词: RBF-BP算法  机械臂  轨迹控制
英文关键词: RBF-BP algorithm  Manipulator  Trajectory control
基金项目:江苏省2019年度高校“青蓝工程”中青年学术带头人培养项目;江苏省现代教育技术研究2019课题(2019-R-73998);2018江苏省教育信息化研究立项课题
作者单位E-mail
郭新兰 京交通职业技术学院轨道交通学院 1221@sina.com 
姚利娜 郑州大学电气工程学院  
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中文摘要:
      针对现有机械臂轨迹控制补偿算法偏差大、效率低的不足,提出一种基于RBF-BP的机械臂行进轨迹控制与跟踪算法研究。从机械臂各轴向的空间移动、角度旋转等6个自由度出发建模,描述机械臂末端的位置移动和姿态变化,并计算向量的移动距离和偏转角度;面对机械臂系统误差和摩擦扰动导致的轨迹偏差问题,利用RBF-BP算法局部逼近最优控制轨迹,并基于高斯基函数的向量值获取最优的权值和轨迹输出值。仿真结果表明:在提出算法控制下的行进轨迹接近于理论轨迹,3个轴向的坐标误差趋近于零。
英文摘要:
      In view of the shortcomings of large deviation and low efficiency of the existing trajectory control and compensation algorithm for manipulator, a trajectory control and tracking algorithm for manipulator based on RBF-BP was proposed. Based on six degrees of freedom such as spatial movement and rotation of each axis of the manipulator, the model was built to describe the position movement and attitude change of the end of the manipulator, and the moving distance and deflection angle of the vector were calculated. Aiming at the trajectory deviation caused by the system error and friction disturbance of the industrial manipulator, the RBF-BP algorithm was used to locally approximate the optimal control trajectory, and the vector value based on the Gaussian basis function was used to obtain the optimal weight and trajectory output value. The simulation results show that the trajectory controlled by the proposed algorithm is close to the theoretical trajectory, and the coordinate errors of the three axes approach to zero.
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