| 张立勋,李彦涛,赵奇,邹宇鹏.助餐机器人运动规划及控制研究[J].高技术通讯(中文),2011,21(12):1279~1284 |
| 助餐机器人运动规划及控制研究 |
| The motion planning and experimental research of a meal assistance robot |
| 修订日期：2010-06-12 |
| DOI： |
| 中文关键词: 助餐机器人， 运动规划， 模糊PID， 轨迹控制， 实验研究 |
| 英文关键词: meal assistance robot, motion planning, fuzzy PID, trajectory control, experimental research |
| 基金项目:国家科技型中小企业创新基金(08C26212301760)和哈尔滨市创新基金（2009RFKXG009）资助项目 |
| 作者 | 单位 | | 张立勋 | 哈尔滨工程大学机电工程学院哈尔滨 | | 李彦涛 | 哈尔滨工程大学机电工程学院哈尔滨 | | 赵奇 | 哈尔滨工程大学机电工程学院哈尔滨 | | 邹宇鹏 | 哈尔滨工程大学机电工程学院哈尔滨 |
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| 中文摘要: |
| 为解决助餐机器人平稳、安全的自动助餐问题，对机器人样机进行了运动规划和控制研究。参照常人进餐习惯，利用多项式插值法对机器人进行了基于速度平滑的运动规划。针对机械臂在助餐过程中引起的控制对象变负载特性，设计了模糊自整定PID控制器。基于dSPACE实验平台进行了运动轨迹跟踪实验，实验响应曲线可准确跟踪期望运动轨迹，实验保证了机器人平稳、准确助餐，表明该运动规划方法和控制算法能满足助餐机器人要求，且具有较强的鲁棒性 |
| 英文摘要: |
| The motion planning and control of an experimental meal assistance robot were studied to solve the problem of the robot’s safe and stationary meal assistance. Taking the human’s eating habit into consideration, the motion planning of the robot was studied by the method of polynomial interpolation based on velocity smoothing. In view of the variable parameter characteristic of the control system caused by the manipulator, the fuzzy self tuning PID controller was designed. The robot motion trajectory tracking experiment was conducted on the experimental platform of dSPACE, and the experimental results showed the responding curves tracked the given motion trajectory curves perfectly, which ensured the spoon to move steadily and accurately. It is concluded by the experiment that the motion planning method and the fuzzy control algorithm are available for meal assistance robots and have a strong robustness |
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