| 机器人的伺服控制 |
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| 引用本文： | 林奕鸿,贺晓文.机器人的伺服控制[J].华中科技大学学报(自然科学版),1988(Z1). |
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| 作者姓名： | 林奕鸿 贺晓文 |
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| 作者单位： | 华中理工大学机械工程一系
(林奕鸿)，华中理工大学机械工程一系(贺晓文) |
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| 摘 要： | 本文研究了机器人伺服控制系统,指出软伺服控制方式是机器人控制的主要方式。文中阐述了DD机器人的技术关键。推导了三自由度小型机器人的运动方程,讨论了实现其控制的出发点,提出了用于进行控制的以计算机系统为核心的伺服系统,着重分析了F/V电路的组成及工作状态。
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| 关 键 词： | 机器人 计算机系统 伺服控制 多关节 |
Servo Control for the Robot |
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| Lin Yihong He Xiaowen.Servo Control for the Robot[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1988(Z1). |
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| Authors: | Lin Yihong He Xiaowen |
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| Institution: | Lin Yihong He Xiaowen |
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| Abstract: | A computer-based servo-control system for the robot is presented. The position command is completely digital and the position and speed control are realized by software. This makes it easier to satisfy the demand from various control algorithms. When the servo parameters are selected, it should be noted that overshoot is not permissible in most industrial robots. Therefore a damping ratio of 1 should be used and accordingly an appropriate amplification k1 should be chosen so as to give a better dynamic behaviour. For manipulators with multiple links, attention should be given to the effect of nonlinearity and inertia coupling. By the Lagrangian equation, with the kinematic and servo mechanisms of robot considered, a dynamic equation has been obtained; and it has been found that unless a heavy inertia coupling is used, it is necessary in actual design to compensate only for the gravity term in the dynamic equation to realize accurate positioning. A 16 bit computer-based circuit and its waveform are discussed in detail. |
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| Keywords: | Robot Computer System Servo control Multi-joints |
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