机电工程技术2025，Vol.54Issue(11)：80-85,6.DOI:10.3969/j.issn.1009-9492.2025.11.015
冗余机器人连续控制算法研究
Research on Continuous Control Algorithm for Redundant Robots
谭杨 1宋永博 1张海涛 1秦晓东 1李娜1
作者信息
- 1. 同方威视技术股份有限公司,北京 10089
- 折叠
摘要
Abstract
Through in-depth research on the control characteristics of robots,the phenomenon of discontinuous control of robotic arms is discovered,especially in the interaction process between robots and the environment.Committed to fundamentally solving the key problem of discontinuous control torque caused by discontinuous changes in environmental constraints in the field of robot control,this research paves the way for stable and efficient operation of robots in complex dynamic environments.A prediction constrained smoothing method is proposed,which works before the dynamic quadratic programming(QP)control framework to ensure the continuity of control torque.This smoothing process is based on model predictive control,which has the advantage of being able to predict future events and take corresponding actions.This method can be used to handle discontinuous constraints in the interaction process between robots and the environment,including discontinuous force constraints,obstacle avoidance constraints,etc.The simulation results of Kuka LWR robot are verified,and experimental data shows that the optimized control torque output of the algorithm is smooth without any jumping changes,effectively solving the problem of discontinuous control torque.关键词
控制力矩/不连续约束/模型预测控制/二次规划Key words
torque control/discontinuous constraints/model predictive control/quadratic programming分类
信息技术与安全科学引用本文复制引用
谭杨,宋永博,张海涛,秦晓东,李娜..冗余机器人连续控制算法研究[J].机电工程技术,2025,54(11):80-85,6.
