纺织工程学报2024，Vol.2Issue(3)：41-52,12.
纺织车间纱筒取装多自由度机械臂关节轨迹跟踪控制
Joint trajectory tracking control of multi-degree-of-freedom manipulator for yarn loading-unloading in textile workshop
摘要
Abstract
Yarn picking-loading and tube change is a common operation in the textile workshop.Using a robotic arm system to do the yarn cylinder changing can enhance the operational efficiency of textile workshops.During the process of a multi-degree-of-freedom manipulator gripping the yarn cylinders and placing them onto the yarn rack,the gripper at the end of the robotic arm has to accurately grasp the yarn cylinder for loading and unloading,which requires precise and fast control of the robotic arm.Therefore,the research of tracking control of the motion trajectory of articulated robots is of great significance.To ensure precise positioning of the robot during motion control,a dynamic modeling of the yarn cylinder clamping robotic arm system is carried out to obtain the relevant torque parameters.The joint motor of the robotic arm is mathematically modeled,and a joint trajectory tracking servo control system of the robotic arm is constructed.Based on the PID control algorithm,the trajectory tracking visualization simulation experiment is carried out on the five-degree-of-freedom robotic arm model using the MATLAB software Simulink platform,and the actual output angle is obtained through the tracking of the PID control algorithm for a given desired angle.Simulation experiment results show that the tracking trajectory error of the PID control algorithm is less than 0.08(rad),the robotic arm system responds quickly within 0.02 seconds,and the five-degree-of-freedom robotic arm system for yarn cylinder gripping can reach the system steady state time within 0.3 seconds.It can better meet the precise gripping of the yarn cylinder by the clamping claw at the end of the robot arm,which meets the demand of the textile workshop for the loading and unloading of yarn cylinders,and improves its working efficiency at the same time.关键词
纱筒换料/机械臂/精准抓取/伺服控制/轨迹跟踪Key words
yarn cylinder change/robotic arm/accurate grab/servo control/trajectory tracking分类
信息技术与安全科学引用本文复制引用
翁威威,江维,彭思远,李红军,陈伟,陈振..纺织车间纱筒取装多自由度机械臂关节轨迹跟踪控制[J].纺织工程学报,2024,2(3):41-52,12.基金项目
数字化纺织装备湖北省重点实验室开放课题资助项目(DTL2023013). （DTL2023013）
