A Grating Sensor Feedback-Based Dynamic Accuracy Control Strategy of Hybrid Robot

LIU Haitao; YUAN Hao; SHAN Xianlei; HAN Jiale; XIAO Juliang

doi:10.16080/j.issn1671-833x.2023.12.040

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A Grating Sensor Feedback-Based Dynamic Accuracy Control Strategy of Hybrid Robot

更新时间：2025-10-30

- A Grating Sensor Feedback-Based Dynamic Accuracy Control Strategy of Hybrid Robot
- Aeronautical Manufacturing Technology Vol. 66, Issue 12, Pages: 40-45(2023)
- 作者机构：
  
  天津大学机构理论与装备设计教育部重点实验室,天津,300350
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2023.12.040
  CLC：
- Published：2023
- 稿件说明：
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刘海涛，原昊，山显雷，韩家乐，肖聚亮. 一种基于光栅传感器反馈的混联机器人动态精度控制策略[J]. 航空制造技术, 2023, 66(12): 40-45.

LIU Haitao, YUAN Hao, SHAN Xianlei, HAN Jiale, XIAO Juliang. A Grating Sensor Feedback-Based Dynamic Accuracy Control Strategy of Hybrid Robot[J]. Aeronautical Manufacturing Technology, 2023, 66(12): 40-45.
刘海涛，原昊，山显雷，韩家乐，肖聚亮. 一种基于光栅传感器反馈的混联机器人动态精度控制策略[J]. 航空制造技术, 2023, 66(12): 40-45. DOI： 10.16080/j.issn1671-833x.2023.12.040.

LIU Haitao, YUAN Hao, SHAN Xianlei, HAN Jiale, XIAO Juliang. A Grating Sensor Feedback-Based Dynamic Accuracy Control Strategy of Hybrid Robot[J]. Aeronautical Manufacturing Technology, 2023, 66(12): 40-45. DOI： 10.16080/j.issn1671-833x.2023.12.040.

摘要

为了有效抑制因减速器和丝杠– 螺母副等传动误差及弹性变形等因素引起的跟随误差，提高混联机器人的末端动态精度，利用安装在摆角头减速器输出侧和并联机构从动关节上的高精度光栅传感器，研究混联机器人的动态精度控制策略。在PID + 前馈体系架构下，采用Lyapunov 稳定性理论，设计出基于光栅传感器和伺服电机编码器位置反馈的控制律，据此构建出混联机器人的动态精度补偿器。以天津大学自主研发的TriMule-200 混联机器人为研究对象，开展了试验验证。结果表明，相比于半闭环位置控制，所设计的动态精度补偿器能够大幅提高混联机器人的末端动态精度，动态误差的最大降幅达到82.88%，由此验证了所提出基于光栅传感器反馈的动态精度控制策略的有效性。

Abstract

Because of the transmission errors and the elastic deformations of reducer and lead screw-nut pair

active joints inevitably suffer from following errors that significantly degrade the dynamic contour accuracy of hybrid robots. An effective dynamic accuracy control strategy based on the grating sensors installed on the wrist and the passive limb was resented in this paper for improving the dynamic contour accuracy in these hybrid robots. After addressing the design principle of a PID + feedforward and Lyapunov stability based control law with the position feedbacks of the grating sensor and the servo motor encoder

a dynamic accuracy compensator was developed. Experimental results on a TriMule-200 hybrid robot show that the dynamic contour accuracy of the robot is significantly improved with the maximum reduced dynamic error of 82.88%

which verifies the effectiveness of the proposed dynamic accuracy control strategy.

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