四轮工业机器人移动轨迹纠偏控制方法

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中图分类号：TP242.2 文献标志码：A 文章编号：1671-5276（2025）05-0212-07

Abstract：Toovercomethedificultyinselecting themulti-deviation directionforthe trajectoryof industrialrobots，a control methodfor moving trajectorycorrectionoffour-whel industrial robotis designed.The kinematic modelof the robotis established toanalyze the distance deviation and course Angledeviation between thecurrent trajectoryand the expected trajectory.With simulated annealing algorithm，theglobal optimal solution or near一optimal solutionare sought inthe complex trajectory deviationsearch space.Upon theoptimizationof thetraditionalfuzzylogiccontrollr，the drive wheelrotationof thefour一wheel mobile industrial robot is controlledbytaking distance deviationand headingAngle deviationas input，and the trajectory correction control is completed.The results show that the distance deviation and course Angle deviation betweenthe actual trajectory and the expected trajectoryare reduced，and the distance deviation andcourseAngledeviationunderthecontroloftheimproved fuzzy logiccontroller are smaler than the other two controllers，which proves the effectiveness of the designed method.

Keywords：industrialrobots；error analysis；running trajectory；deviationcorrection control method；simulated annealing; fuzzy control

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