CN114888828A - SCARA robot experimental device based on ant colony optimization and control method - Google Patents

SCARA robot experimental device based on ant colony optimization and control method Download PDF

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CN114888828A
CN114888828A CN202210451275.1A CN202210451275A CN114888828A CN 114888828 A CN114888828 A CN 114888828A CN 202210451275 A CN202210451275 A CN 202210451275A CN 114888828 A CN114888828 A CN 114888828A
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sequence
mechanical arm
acceleration
motor
angular
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蒋勉
王新培
谢凌波
卢清华
何宽芳
陈勇
柴牧
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Foshan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention discloses an ant colony optimization-based SCARA robot experimental device and a control method, which comprises a vibration isolation table and a track control unit, wherein the top of a base is fixedly connected with a driving motor, the driving motor is rotationally connected with one end of a mechanical arm I, the other end of the mechanical arm I is rotationally connected with one end of a mechanical arm II, the other end of the mechanical arm II is provided with a plurality of acceleration sensors and reflectors, and an expected track is dispersed into a point coordinate sequence and a corresponding time sequence; establishing a mapping relation between the rotation angle of the mechanical arm and the position of the tail end to obtain an angle sequence, an angular velocity sequence and an angular acceleration sequence of the mechanical arm; inputting each group of sequences into a servo driver and a control card to obtain a current time-varying signal and a pulse time-varying signal; and controlling the mechanical arm to rotate so as to obtain the actual position coordinate sequence of the robot, obtaining mechanical arm state data based on the mapping relation between the mechanical arm corner and the tail end position, and finishing the expected track by taking the track tracking error as an optimization target.

Description

SCARA robot experimental device based on ant colony optimization and control method
Technical Field
The invention relates to the technical field of high-speed rotation SCARA robots, in particular to an experimental device and a control method of an SCARA robot based on ant colony optimization.
Background
The SCARA robot is a special type of industrial robot of the cylindrical coordinate type, comprising a plurality of revolute pairs and end-effector revolute pairs, the axes of which are parallel to each other, the revolute pairs being responsible for planar positioning and orientation, the effector revolute pairs performing vertical movements of the end-effector. The SCARA robot has the advantages of light and reasonable structure, high cost performance and response speed which is several times that of a common articulated robot. The special structure of the SCARA robot determines that the SCARA robot has great flexibility on a working surface and great rigidity in the normal direction of the working surface. The former ensures that the SCARA robot has almost no movement dead angle and can complete operation in a limited narrow space; the latter makes SCARA robot receive factors such as gravity to influence less, and the motion stability is higher. These characteristics determine that the SCARA robot is perfectly adapted to the assembly line, such as assembly, transportation and other working occasions, and is widely applied to the fields of industrial production and life, such as plastic industry, pharmaceutical industry, food industry and the like. In order to improve industrial productivity and save energy, modern machines are continuously developed towards light weight, low energy consumption, high efficiency and the like, and the high-speed and high-precision 360-degree rotation SCARA robot is attracted by a plurality of researchers and engineers. However, due to design, machining, and assembly errors, when the rotary SCARA robot moves at a high speed, elastic deformation, collision, and the like of components occur under the influence of inertia force and the like, which affects the positioning accuracy of the end trajectory.
In order to ensure the positioning accuracy and stability of the SCARA robot, a positioning error needs to be detected, and a contact sensor in the prior art has poor positioning accuracy and generates large measurement noise under the influence of movement. In addition, the theoretical mechanical arm motion model and the actual working condition have larger deviation under the interference of uncertain factors such as clearance and abrasion. Therefore, the research and design of the SCARA robot which has high positioning precision, strong stability and real-time control and can rotate at high speed and high precision by 360 degrees has important research significance and practical value.
Disclosure of Invention
The invention aims to provide an ant colony optimization-based SCARA robot experimental device and a control method, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the SCARA robot experimental device based on ant colony optimization comprises a vibration isolation table and a track control unit, wherein the top of the vibration isolation table is fixedly connected with a base, the top of the base is fixedly connected with a driving motor, the driving motor is rotationally connected with one end of a mechanical arm I, the other end of the mechanical arm I is rotationally connected with one end of a mechanical arm II, the top of the connecting end of the mechanical arm II and the mechanical arm I is connected with a motor, the motor is electrically connected with an electric slip ring, the electric slip ring is connected to the center of the top of an aluminum profile support, and the aluminum profile support is arranged on the periphery of the vibration isolation table;
and the other end of the mechanical arm II is provided with a plurality of acceleration sensors and reflectors.
Preferably, the motor and the driving motor are both connected with a speed reducer, the trajectory control unit comprises two sets of servo drivers, a switch power supply, a control card and a PC, the servo drivers are respectively electrically connected with the motor, the driving motor and the control card, and the control card is electrically connected with the servo drivers and the switch power supply and is connected with the PC.
Preferably, one end of the mechanical arm I, which is far away from the base, is provided with a plurality of acceleration sensors, laser detection heads are installed on two sides of the vibration isolation table, the laser detection heads are matched with reflectors to form two groups of laser trackers, and the reflectors are installed at the top of the tail end of the mechanical arm II side by side.
Preferably, the number of the acceleration sensors is six, four of the acceleration sensors are respectively arranged on two sides of the tail ends of the mechanical arm I and the mechanical arm II in parallel, and the other two acceleration sensors are arranged on the radial outer sides of the tail ends of the mechanical arm I and the mechanical arm II.
The invention also provides a control method of the SCARA robot experimental device based on ant colony optimization, which comprises the following steps:
s1, discretizing the expected track by a specific method, and discretizing the expected track into a point coordinate sequence and a corresponding time sequence;
s2, according to the point coordinate sequence, the corresponding time sequence and the kinematic equation of the mechanical arm system, establishing a mapping relation between the mechanical arm corner and the tail end position based on a kinematic inverse solution, and solving a mechanical arm angle sequence, an angular velocity sequence and an angular acceleration sequence which correspond to each other theoretically;
s3, inputting a servo driver and a control card according to the mechanical arm angle sequence, the angular velocity sequence and the angular acceleration sequence to obtain a current time-varying signal and a pulse time-varying signal of a control motor;
s4, controlling the mechanical arm to rotate according to the current time-varying signal and the pulse time-varying signal of the input motor, and obtaining a robot actual position coordinate sequence, an acceleration sequence and a corresponding time sequence through the acceleration sensor and the laser tracker and transmitting the sequences to a PC;
s5, according to the actual position coordinate sequence, the acceleration sequence and the corresponding time sequence of the robot, based on the mapping relation between the corner and the end position of the mechanical arm, calculating the actual angle sequence, the angular velocity sequence and the angular acceleration sequence of the mechanical arm;
s6, designing a controller based on ant colony optimization and iterative learning according to the actual angle sequence, the angular velocity sequence, the angular acceleration sequence, the theoretical angle sequence, the angular velocity sequence and the theoretical angular acceleration sequence, with a trajectory tracking error as an optimization target, and obtaining an optimal angle compensation sequence and a corresponding velocity and acceleration compensation sequence;
and S7, inputting the compensation sequence of the angle, the speed and the acceleration into a control card and a servo driver, and driving a motor to complete an expected track according to an expected speed.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts the laser tracker and the acceleration sensor to carry out real-time measurement and transmission on the motion parameters of the tail end of the robot, has high measurement precision, belongs to non-contact measurement, does not increase the additional mass of the structure, does not change the structural characteristics, and has the advantages of high measurement precision, high sampling frequency and quick dynamic response; the method comprises the steps of collecting motion parameters of the tail end of the robot by using a laser tracker and an acceleration sensor, transmitting the motion parameters to a PC (personal computer) end in real time, designing a controller by using an ant colony optimization and iterative learning-based thought, and performing compensation control on track errors to enable the tail end of the robot to move along an expected track at an expected speed.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a flow chart of the ant colony optimization controller control of the present invention;
FIG. 5 is a flow chart of iterative learning in accordance with the present invention;
FIG. 6 is a graph of the mean and variance of the error for each iteration of the invention when the expected trajectory is a circular trajectory;
FIG. 7 is a graph showing the error results of the position points of the 1 st round and the 20 th round according to the present invention when the expected trajectory is a circular trajectory;
FIG. 8 is a control circuit diagram of the present invention.
In the figure: the device comprises an electric slip ring 1, an aluminum profile support 2, a motor 3, a mechanical arm I4, a mechanical arm II5, a base 6, a reflector 7, an acceleration sensor 8 and a vibration isolation table 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-8, for a first embodiment of the present invention, the embodiment provides an ant colony optimization-based SCARA robot experimental apparatus, which includes a vibration isolation table 9 and a trajectory control unit, the vibration isolation table 9 is square, the top of the vibration isolation table 9 is fixedly connected to a base 6 by using bolts, the vibration isolation table has a fixing function and a supporting function for a robot in a bolt connection manner, and has a damping effect to prevent the robot from being affected by others, the top of the base 6 is fixedly connected to a driving motor, the driving motor is rotatably connected to one end of a mechanical arm I4, the other end of the mechanical arm I4 is rotatably connected to one end of a mechanical arm II5, the top of the connection end of the mechanical arm II5 and the mechanical arm I4 is connected to a motor 3, the motor 3 is electrically connected to an electrical slip ring 1, the electrical slip ring 1 is connected to the center of the top of an aluminum profile support 2 to facilitate providing power for the rotating motor 3, the aluminum profile support 2 is arranged around the vibration isolation table 9, the aluminum profile bracket 2 is in a square cover shape, and plays a role in protection so as to prevent operators from being injured;
the other end of the mechanical arm II5 is provided with a plurality of acceleration sensors 8 and reflectors 7, the acceleration sensors are arranged around the mechanical arm and connected with a PC through cables, and the acceleration at the tail end of the mechanical arm in all directions is transmitted.
The motor 3 and the driving motor are both connected with a speed reducer, the track control unit comprises two groups of servo drivers, a switch power supply, a control card and a PC (personal computer), the servo drivers are respectively and electrically connected with the motor 3, the driving motor and the control card, the control card is electrically connected with the servo drivers and the switch power supply and is also connected with the PC, signals given by the PC are received and processed and then transmitted to the servo drivers, the servo drivers process and transmit the signals to the motor, and the driving motor realizes that the tail end of the mechanical arm II5 moves along an expected track at an expected speed. In the embodiment, the model of the control card is DMC-4143-BOX model of GALIL company; the AC servo system is driven by the SGM7A-10AFA61/SGD75-120A00A and the SGM7A-08AFA61/SGD75-5R5A00A of Anchuan; the speed reducers respectively adopt SB90-30-P0-SGM7A-10AFA61, the speed reduction ratio is 30, and the backlash is less than 5 arcmin; FB90-30-SGM7A-08AFA61 with a reduction ratio of 30 and a backlash of 12 arcmin.
One end that base 6 was kept away from to arm I4 is equipped with a plurality of acceleration sensor 8, and the laser detection head is installed to the both sides of vibration isolation platform 9, and two sets of laser tracker of laser detection head cooperation reflector 7 constitution, two reflectors 7 are installed side by side at the terminal top of arm II5, are connected through cable and PC, transmit the terminal position of arm. The standard distance from the laser probe to the edge of the vibration isolation platform 9 is 200-1100 mm, the standard distance from the height of the probe to the ground is 900-1100mm, and the position of the probe can be adjusted horizontally and vertically.
The acceleration sensors 8 are six in total, four of the acceleration sensors are respectively arranged on two sides of the tail ends of the mechanical arm I4 and the mechanical arm II5 in parallel, and the other two acceleration sensors are arranged on the radial outer sides of the tail ends of the mechanical arm I4 and the mechanical arm II 5.
The invention also provides a control method of the SCARA robot experimental device based on ant colony optimization, which comprises the following steps:
s1, discretizing the expected track by a specific method, and discretizing the expected track into a point coordinate sequence and a corresponding time sequence;
s2, according to the point coordinate sequence, the corresponding time sequence and the kinematic equation of the mechanical arm system, establishing a mapping relation between the mechanical arm corner and the tail end position based on a kinematic inverse solution, and solving a mechanical arm angle sequence, an angular velocity sequence and an angular acceleration sequence which correspond to each other theoretically;
s3, inputting a servo driver and a control card according to the mechanical arm angle sequence, the angular velocity sequence and the angular acceleration sequence to obtain a current time-varying signal and a pulse time-varying signal of a control motor;
s4, controlling the mechanical arm to rotate according to the current time-varying signal and the pulse time-varying signal of the input motor, and obtaining a robot actual position coordinate sequence, an acceleration sequence and a corresponding time sequence through the acceleration sensor 8 and the laser tracker and transmitting the sequences to a PC;
s5, according to the actual position coordinate sequence, the acceleration sequence and the corresponding time sequence of the robot, based on the mapping relation between the corner and the end position of the mechanical arm, calculating the actual angle sequence, the angular velocity sequence and the angular acceleration sequence of the mechanical arm;
s6, designing a controller based on ant colony optimization and iterative learning according to the actual angle sequence, the angular velocity sequence, the angular acceleration sequence, the theoretical angle sequence, the angular velocity sequence and the theoretical angular acceleration sequence, with a trajectory tracking error as an optimization target, and obtaining an optimal angle compensation sequence and a corresponding velocity and acceleration compensation sequence;
and S7, inputting the compensation sequence of the angle, the speed and the acceleration into a control card and a servo driver, and driving a motor to complete an expected track according to an expected speed.
Example 2
Referring to fig. 1 to 8, a second embodiment of the present invention is based on the previous embodiment, specifically, in S1 of embodiment 1, a method for discretizing the expected trajectory is:
with the center point O of the mechanical arm base 6 1 Establishing a polar coordinate system, track start and end coordinates (x) for the origin of coordinates 1 ,y 1 ),(x I ,y I ) The corresponding polar coordinates are respectively (r) 1 ,α 1 ),(r I ,α I ) Taking a ray outward at an equal polar angle, dividing the expected trajectory into I discrete points, which are { (r) respectively 1 ,α 1 ),…,(r i ,α i ),…,(r I ,α I ) }, wherein: alpha is alpha i ，r i Respectively is the polar angle and the polar diameter corresponding to the ith point. The point coordinate sequence under the Cartesian coordinate system is { (x) 1 ,y 1 ),…,(x i ,y i ),…,(x I ,y I ) H, corresponding time series T,2T,3T, …, IT.
Specifically, in S2 of example 1, the method for obtaining the theoretical arm angle sequence, the angular velocity sequence, and the angular acceleration sequence is:
the gapless ideal kinematic model is:
Figure BDA0003617269050000071
define (x, y) ═ f (θ) 1 ,θ 2 ) Of (θ) 1 ,θ 2 )＝f -1 (x, y), angular velocity and angular acceleration are (v) respectively 1 ,v 2 ) And (a) 1 ,a 2 ) Wherein (v) 1 ,v 2 )＝(f -1 (x,y))′,(a 1 ,a 2 )＝(f -1 (x, y)) ", for discrete points { (x) 1 ,y 1 ),…,(x i ,y i ),…,(x I ,y I ) An angular sequence (θ) can be obtained 1i ,θ 2i ) Angular velocity sequence (v) 1i ,v 2i ) And angular acceleration sequence (a) 1i ,a 2i )。
Specifically, in S4 of example 1, the actual coordinate sequence and the acceleration sequence of the end of the robot arm II5 are calculated by:
with two reflectors 7 opposite to O 1 Has the coordinates of (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ) The readings of the laser tracker are respectively (d) 1 ,α 1 ,β 1 ),(d 2 ,α 2 ,β 2 ) The instrument coordinate system of the laser tracker is established as follows: using the center of the laser probe as the origin O 2 ,O 3 The 0 reading direction on the scale is taken as an X axis, the normal upward direction of the plane of the scale is taken as a Z axis, the Y axis is determined by the rule of a right-hand coordinate system, and the reflectors 7 are respectively corresponding to the corresponding coordinate system O 2 ,O 3 The coordinate is (x) p1 ,y p1 ,z p1 ),(x p2 ,y p2 ,z p2 ) Assuming X-axis of two coordinate systems and the center point O of the robot base 6 1 The X-axis included angles of the coordinate system as the origin are respectively (gamma) 1 ,γ 2 )，O 2 ,O 3 Relative to the coordinate of O 1 Are respectively (x) 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 ). There is a first reflector 7 coordinate (x) 1 ,y 1 ,z 1 )：
(x p1 ,y p1 ,z p1 ) T ＝(d 1 sinβcosα,d 1 sinβsinα,d 1 cosβ) T
(x 1 ,y 1 ,z 1 ) T ＝R 1 (x p1 ,y p1 ,z p1 ) T +(x 3 ,y 3 ,z 3 ) T
Wherein R is 1 As a coordinate systemTransformation matrix
Figure BDA0003617269050000072
The coordinates (x) of the second reflector 7 can be obtained in the same way 2 ,y 2 ,z 2 ). Considering the first and second reflectors 7 placed side by side on top of the end of the arm II5, the actual coordinates (x, y, z) of the end of the arm II5 are taken as (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ) Average value, if a certain angle occurs to cause the laser to be blocked by the aluminium profile support 2, resulting in no reading by one laser tracker, then the other calculated coordinate is taken as the actual coordinate (x, y, z).
Six acceleration sensors 8 are arranged, a first acceleration sensor 8 and a second acceleration sensor 8 are arranged on two sides of the tail end of a mechanical arm I4 in parallel, a third acceleration sensor 8 is arranged on the radial outer side of the tail end of a mechanical arm I4, a fourth acceleration sensor 8 and a fifth acceleration sensor 8 are arranged on two sides of the tail end of a mechanical arm I4 in parallel, a sixth acceleration sensor 8 is arranged on the radial outer side of the tail end of a mechanical arm II5, and the readings of the first acceleration sensor 8, the second acceleration sensor 8 and the third acceleration sensor 8 are respectively (a) 11 ,a 12 ,a 13 ) Then the end of the mechanical arm I4 is accelerated
Figure BDA0003617269050000081
The terminal acceleration a of the mechanical arm II5 can be obtained by the same method 2 。
In the operation process of the mechanical arm, the acceleration sensor 8 and the laser tracker transmit the actual position coordinate sequence, the acceleration sequence and the corresponding time sequence of the robot to the PC in real time.
Specifically, in S5 of example 1, the method of obtaining the actual arm angle sequence, the angular velocity sequence, and the angular acceleration sequence is:
the ideal track is scattered into points (x) i ,y i ) Conversion to actual coordinates (x) s ,y s ) Similarly, the inverse function of the gapless ideal kinematics model is used to calculate the actual angle sequence (theta) 1is ,θ 2is ) Angular velocity sequence (v) 1is ,v 2is ) And angular acceleration sequence (a) 1is ,a 2is )。
In addition, the actual range of motion of the robotic arm may exceed the theoretical reachable position due to interference factors such as clearance, resulting in actual coordinates (x) s ,y s ) The real solution of the joint motor rotation angle cannot be obtained through theoretical kinematics inverse solution. Thus, the actual coordinates (x) may be considered s ,y s ) Do boundary reduction processing, i.e. if existing
Figure BDA0003617269050000082
Wherein l 1 ,l 2 The lengths of arm I4 and arm II5, respectively, result in:
Figure BDA0003617269050000083
then, the inverse function of the gapless ideal kinematics model is utilized to calculate the actual angle sequence (theta) 1is ,θ 2is ) Angular velocity sequence (v) 1is ,v 2is ) And angular acceleration sequence (a) 1is ,a 2is )。
Specifically, in S6 of example 1, the controller design method is as follows:
definition error e 1i ＝[θ 1i -θ 1is ,v 1i -v 1is ,a 1i -a 1is ] T ；e 2i ＝[θ 2i -θ 2is ,v 2i -v 2is ,a 2i -a 2is ] T Wherein the error weights of the position, the speed and the acceleration are respectively lambda 1 ,λ 2 ,λ 3 The ant colony controller parameter is set to (k) 1i ,k 2i ) T Then the compensated input angle of the controller can be obtained as (theta) 1ix ,θ 2ix ):
Figure BDA0003617269050000091
I.e. theta ix ＝θ i +Ke i The x, likewise,
Figure BDA0003617269050000092
the compensated post-control angle sequence (theta) 1ix ,θ 2ix ) Angular velocity sequence (v) 1ix ,v 2ix ) And angular acceleration sequence (a) 1ix ,a 2ix ) And inputting a control card and a servo driver, and driving a motor to complete the expected track according to the expected speed. Regarding the selection of the K-array parameters, the selection is performed through the ant colony optimization and iterative learning controller, and the specific flow is shown in fig. 4 and fig. 5.
Example 3
Referring to fig. 1-8, a third embodiment of the present invention is based on the above two embodiments, in use, the apparatus is powered on, and the driving motor and the motor 3 respectively drive the robot I4 and the robot II5 to operate, and the control method is as follows: discretizing the expected track by a specific method, and discretizing the expected track into a point coordinate sequence and a corresponding time sequence; according to the point coordinate sequence, the corresponding time sequence and a kinematics equation of the mechanical arm system, establishing a mapping relation between the mechanical arm corner and the tail end position based on a kinematics inverse solution, and solving a mechanical arm angle sequence, an angular velocity sequence and an angular acceleration sequence which are theoretically corresponding; inputting a servo driver and a control card according to the mechanical arm angle sequence, the angular velocity sequence and the angular acceleration sequence to obtain a current time-varying signal and a pulse time-varying signal of a control motor; controlling the mechanical arm to rotate according to the current time-varying signal and the pulse time-varying signal of the input motor, and obtaining a coordinate sequence of the actual position of the robot, an acceleration sequence and a corresponding time sequence through the acceleration sensor 8 and the laser tracker and transmitting the coordinate sequence, the acceleration sequence and the corresponding time sequence to the PC; according to the actual position coordinate sequence, the acceleration sequence and the corresponding time sequence of the robot, based on the mapping relation between the corner of the mechanical arm and the tail end position, the actual angular sequence, the angular velocity sequence and the angular acceleration sequence of the mechanical arm are obtained; designing a controller based on ant colony optimization and iterative learning according to the actual angle sequence, the angular velocity sequence, the angular acceleration sequence, the theoretical angle sequence, the angular velocity sequence and the angular acceleration sequence, and with a trajectory tracking error as an optimization target to obtain an optimal angle compensation sequence and a corresponding velocity and acceleration compensation sequence; and inputting the compensation sequence of the angle, the speed and the acceleration into a control card and a servo driver, and driving a motor to complete an expected track according to an expected speed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. SCARA robot experimental apparatus based on ant colony optimization, including vibration isolation platform (9) and orbit control unit, its characterized in that: the vibration isolation platform is characterized in that a base (6) is fixedly connected to the top of the vibration isolation platform (9), a driving motor is fixedly connected to the top of the base (6) and is rotatably connected to one end of a mechanical arm I (4), the other end of the mechanical arm I (4) is rotatably connected to one end of a mechanical arm II (5), a motor (3) is connected to the top of the connection end of the mechanical arm II (5) and the mechanical arm I (4), the motor (3) is electrically connected with an electric slip ring (1), the electric slip ring (1) is connected to the center of the top of an aluminum profile support (2), and the aluminum profile support (2) is arranged on the periphery of the vibration isolation platform (9);
and the other end of the mechanical arm II (5) is provided with a plurality of acceleration sensors (8) and reflectors (7).
2. The ant colony optimization-based SCARA robot experimental apparatus as claimed in claim 1, wherein: the track control unit comprises two sets of servo drivers, a switch power supply, a control card and a PC, wherein the servo drivers are respectively electrically connected with the motor (3), the drive motor and the control card, and the control card is electrically connected with the servo drivers and the switch power supply and is also connected with the PC.
3. The ant colony optimization-based SCARA robot experimental facility of claim 1, wherein: one end of the mechanical arm I (4) far away from the base (6) is provided with a plurality of acceleration sensors (8), laser detection heads are installed on two sides of the vibration isolation table (9), the laser detection heads are matched with reflectors (7) to form two sets of laser trackers, and the reflectors (7) are installed at the top of the tail end of the mechanical arm II (5) side by side.
4. The ant colony optimization-based SCARA robot experimental facility of claim 1, wherein: six acceleration sensors (8) are arranged, four acceleration sensors are respectively arranged on two sides of the tail ends of the mechanical arm I (4) and the mechanical arm II (5) in parallel, and the other two acceleration sensors are arranged on the radial outer sides of the tail ends of the mechanical arm I (4) and the mechanical arm II (5).
5. The control method of the ant colony optimization-based SCARA robot experimental apparatus according to claims 1-4, characterized by comprising the following steps:
s1, discretizing the expected track by a specific method, and discretizing the expected track into a point coordinate sequence and a corresponding time sequence;
s2, according to the point coordinate sequence, the corresponding time sequence and the kinematic equation of the mechanical arm system, establishing a mapping relation between the mechanical arm corner and the tail end position based on a kinematic inverse solution, and solving a mechanical arm angle sequence, an angular velocity sequence and an angular acceleration sequence which correspond to each other theoretically;
s3, inputting the angular velocity sequence, the angular acceleration sequence and the angular speed sequence of the mechanical arm into a servo driver and a control card to obtain a current time-varying signal and a pulse time-varying signal of a control motor;
s4, controlling the mechanical arm to rotate according to the current time-varying signal and the pulse time-varying signal of the input motor, and obtaining an actual position coordinate sequence, an acceleration sequence and a corresponding time sequence of the robot through the acceleration sensor (8) and the laser tracker and transmitting the coordinate sequence, the acceleration sequence and the corresponding time sequence to the PC;
s5, according to the actual position coordinate sequence, the acceleration sequence and the corresponding time sequence of the robot, based on the mapping relation between the corner and the end position of the mechanical arm, calculating the actual angle sequence, the angular velocity sequence and the angular acceleration sequence of the mechanical arm;
s6, designing a controller based on ant colony optimization and iterative learning according to the actual angle sequence, the angular velocity sequence, the angular acceleration sequence, the theoretical angle sequence, the angular velocity sequence and the theoretical angular acceleration sequence, with a trajectory tracking error as an optimization target, and obtaining an optimal angle compensation sequence and a corresponding velocity and acceleration compensation sequence;
and S7, inputting the compensation sequence of the angle, the speed and the acceleration into a control card and a servo driver, and driving a motor to complete an expected track according to an expected speed.
CN202210451275.1A 2022-04-26 2022-04-26 SCARA robot experimental device based on ant colony optimization and control method Pending CN114888828A (en)

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CN115213911A (en) * 2022-09-20 2022-10-21 苏州浪潮智能科技有限公司 Arm length parameter compensation method, device, equipment and storage medium of SCARA robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115213911A (en) * 2022-09-20 2022-10-21 苏州浪潮智能科技有限公司 Arm length parameter compensation method, device, equipment and storage medium of SCARA robot

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