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机器人运动所处环境具有动态性,再加上机器人运动轨迹的时变性,传统方法难以实现高精度的机器人运动轨迹跟踪,为了提升机器人运动轨迹跟踪的准确性,提出一种激光传感器的机器人运动轨迹跟踪方法。首先建立机器人运动轨迹的动力学方程,然后采用卡尔曼滤波算法对机器人运动轨迹进行实时跟踪,并结合激光传感器的数据对机器人运动轨迹跟踪结果进行自动、智能调整和校正,实验结果表明,本文方法可以适应机器人运动的机动性,提高了机器人运动轨迹的跟踪精度,而且跟踪速度适应于实时性要求高的机器人应用领域。
The dynamic environment of the robot’s motion, coupled with the time-varying nature of the robot’s trajectory, makes it difficult to track the trajectory of the robot with high precision. In order to improve the accuracy of the trajectory of the robot’s trajectory, a trajectory of the robot’s trajectory Tracking method. Firstly, the kinetic equations of the trajectory of the robot are established. Then the Kalman filter algorithm is used to track the trajectory of the robot in real time. The trajectory tracking results of the robot are automatically and intelligently adjusted and corrected with the data of the laser sensor. The experimental results show that the method Can adapt to the mobility of the robot movement, improve the tracking accuracy of the robot trajectory, and the tracking speed adapts to the real-time robot application field with high requirements.