【摘要】 在工业环境中，机器人需要应对复杂的运动情况，例如高速运动、碰撞等不确定性因素，对位姿定位产生干扰，使得机器人的位姿控制变得困难。为此，提出基于惯性传感器的工业遥操作机器人位姿定位控制方法。融合处理利用惯性传感器和视觉相机采集的信息，获取机器人运动过程中姿态航向角、速度和位移信息，计算机器人位姿误差，设计线性定常的状态反馈控制律，确定控制器参数选取条件，建立李雅普诺夫函数确定系统稳定范围，利用控制器实现工业遥操作机器人位姿定位控制。实验结果表明，经过所提方法展开控制后，姿态航向角误差最大仅为0.000 2 rad，移动位置仅存在0.1 m的误差，且速度误差最小，可以获取比较满意的机器人位姿定位控制结果。更多还原

【Abstract】 In the industrial environment,robots need to deal with complex motion conditions,such as high-speed motion,collision and other uncertain factors,which will interfere with the pose positioning,making the pose control of robots difficult.For this reason,an attitude control method of industrial teleoperation robot based on inertial sensor is proposed.Fusion processing uses the information collected by inertial sensors and visual cameras to obtain the information of attitude heading angle,speed and displacement of the robot in the process of motion,calculates the pose error of the robot,designs the linear and steady state feedback control law,determines the selection conditions of controller parameters,and establishes the Lyapunov function to determine the stability range of the system.The position and posture control of industrial teleoperation robot is realized by using the controller.The experimental results show that after the control of the proposed method,the maximum error of the attitude heading angle is only 0.000 2 rad,the error of the moving position is only 0.1 m,and the speed error is minimal.Satisfactory robot position and orientation control results can be obtained.更多还原