JRB-1机器人伺服控制的设计与实现

讨论JRB-1工业机器人伺服控制的设计与实现问题．为简化控制器，采用单关节设计方法，讨论了控制参数的设计，并提出在线优化参数方法．为抑制单关节设计方法中存在的动态耦合、重力、摩擦等干扰，提出一种新的动态补偿方法．将这种方法应用于单关节控制器，可得到线性解耦的关节运动．这种方法根据电机转速和电流，估计和抑制干扰，不需大量计算，实现简单，补偿效果好．上述方法已在JRB-1机器人上得到实现．

Design and Implementation of Servo-Control for JRB-l Robot

The design and implementation of servo-contral on JRB-1 Robot are described in this paper. The independent joint control approach to manipulator control is used to simplify controller implementation. The design of servo parameters is discussed and an on-line optimizing method for servo parameters is propcesed. A new method for dynamic compensa- tion is put forward in order to seeppress the disturbances due to the interterences of dynamic coupling, gravity and friction which had not been taken into account. With this method, a linear decoupled joint motions can be obtained. According to the yelocity and current of the motor, the disturbances are instantly estimated and suppressed. The method is characterized by very simple computation and implementation and a good compensation effect. The implementation of the method on JRB-1 Robot has been achieved.