机械科学与技术2025，Vol.44Issue(4)：581-591,11.DOI:10.13433/j.cnki.1003-8728.20230224
面向智能化铸造生产线的重载机器人迭代学习轨迹跟踪控制
Iterative Learning Trajectory Tracking Control of Heavy-load Robot for Intelligent Casting Production Line
摘要
Abstract
To meet the requirements of high precision control of heavy-load robot's end-effector in intelligent casting production line with mixed line production,an adaptive iterative learning trajectory tracking control method is proposed.Firstly,a dynamic model of a heavy-load robot is established by considering the influence of end-load mass,and the dynamic characteristics of the robot during the sand core transportation are analyzed.Then,based on the traditional iterative learning control law,a new iterative learning control law which adaptively adjusts the gain with the change of the mass is proposed,and the control parameters adjustment strategy is given.Finally,the simulation results show that the proposed control method has a faster iterative learning speed,the maximum distance error of the robot is more than 56.1%lower than that of the traditional iterative learning control method,and the influence of load change on the control accuracy can be ignored.The proposed control method can improve the iterative learning speed and trajectory tracking accuracy of the heavy-load robot.关键词
重载机器人/智能化铸造生产线/轨迹跟踪/自适应迭代学习/动力学分析Key words
heavy-load robot/intelligent casting production line/trajectory tracking/adaptive iteration learning/dynamic analysis分类
矿业与冶金引用本文复制引用
胡文洪,王宪,彭兆鑫,舒赞辉..面向智能化铸造生产线的重载机器人迭代学习轨迹跟踪控制[J].机械科学与技术,2025,44(4):581-591,11.基金项目
国家重点研发计划"智能机器人"重点专项(2018YFB1308200) （2018YFB1308200）
