التفاصيل البيبلوغرافية
| العنوان: |
Design of nonlinear control system for motion trajectory of industrial handling robot. |
| المؤلفون: |
Zhao, Haoming, Zhang, Xinling |
| المصدر: |
Advanced Control for Applications; Jun2024, Vol. 6 Issue 2, p1-15, 15p |
| مصطلحات موضوعية: |
INDUSTRIAL robots, AUTOMATIC machinery, LAGRANGE equations, ANGULAR acceleration, TORQUE |
| مستخلص: |
Industrial robot is a and multi‐output complex system with strong coupling and high nonlinearity. The motion control accuracy of the system is affected by many factors. To solve the difficulty in establishing the input and output characteristics of robot dynamics modeling, the robot motion model is established through the Lagrangian energy function. At the same time, the nonlinear relationship between angular velocity, angular acceleration, and robot torque is accurately expressed through improved cascaded neural network. In addition, the optimal time planning of the robot's trajectory in joint space is studied using multinomial interpolation method and the particle swarm optimization (PSO). In the simulation experiment, the effect of the proposed dynamic model fitting was outstanding. Under the mixed multinomial difference calculation planning, the angular position trajectories of the three joints changed very smoothly. In the data set application test, the average error of the PSO algorithm was 0.4061 mm and the average task time was 9.101 s, which were lower than other planning algorithms. Experiments showed that the Lagrangian dynamic model analysis based on genetic algorithm cascaded neural network and PSO trajectory scheduling method under mixed multinomial difference had better trajectory planning performance in handling tasks. [ABSTRACT FROM AUTHOR] |
|
Copyright of Advanced Control for Applications is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |
