文献类型：期刊文献

中文题名：基于多传感器集成的机器人整机自动控制方法研究

英文题名：Research on robot whole automatic control method based on multi?sensor integration

作者：李丽[1]

第一作者：李丽

机构：[1]新乡学院,河南新乡453000

第一机构：新乡学院

年份：2020

卷号：43

期号：18

起止页码：175-177

中文期刊名：现代电子技术

外文期刊名：Modern Electronics Technique

收录：CSTPCD;;北大核心:【北大核心2017】；

基金：国家自然科学基金青年科学基金项目(61501391);河南省高等学校重点科研项目(18B460016);河南省高等学校重点科研项目(17B460008)。

语种：中文

中文关键词：机器人;自动控制;多传感器;结构动力学;信号同步;传感器分布

外文关键词：robot;automatic control;multi?sensor;structural dynamics;signal synchronization;sensor distribution

摘要：受到不同传感器信号融合度与传感器分布位置的影响,机器人整机在自动控制过程中存在多传感器信号响应反馈不同步的现象。通过对机器人结构运动力学模型的建立与分析,完成对不同位置传感器所应发送力值信号大小的获取;根据获取的数值对传感器分布位置与规格进行修正,在硬件结构上减小控制误差量;通过引入信号同步算法,统一机器人整机不同分布位置上传感器信号到达控制器的时间,实现在控制程序上的误差修正。通过对不同差量下不同感应器指令响应误差数据的收集、对比、分析,证明提出的控制方法能够有效提升自动控制信号的同步效果。
Due to the influence of the fusion degree of the different sensor signals and the distribution location of the sensor,the whole robot has the phenomenon that the response feedback of multi?sensor signal is not synchronous in the automatic control process.The structural dynamics model of the robot is established and analyzed to complete the acquirement of the signal size of the stress value transmitted by different position sensors.The distribution location and the specification of the sensors are corrected according to the obtained value,and the control error amount on the hardware structure is reduced.The time of the sensor signal reaching the controller at different distribution positions of the whole robot is unified by introducing the signal synchronization algorithm,and the error correction on the control program is realized.It is proved that the proposed control method can effectively improve the synchronization effect of automatic control signal by collecting,comparing and analyzing the error data of different sensors′command response under different differences.