摘要
为了实现柔性机器人的高速高精度控制,抑制高速运动中的残余振动,提出一种新颖的柔性机器人机构,并基于双重驱动的思想研究了其振动抑制问题。以直线伺服电机作为机器人的主驱动源,实现高速精密点位控制,并采用脉冲整形技术减小末端残余振动;以压电陶瓷作为从驱动源,采用闭环反馈控制策略抑制末端残余振动。实验结果表明:采用输入指令整形减振技术和压电陶瓷相结合的抑振策略,系统稳定时间缩短80%以上,双重驱动的抑振策略实现了高速高精度的运动控制。
A high speed and high precision flexible robot was studied with reduced residual vibrations at high speeds. Dual drives were used to suppress the vibrations in the flexible robot. The robot uses linear motors to provide fast and accurate positioning with preshaping input command selected to suppress the vibrations with a piezo electric slave driver and closed loop feedback controller to restrain the residual vibrations, Experiments validate that the stabilizing time is reduced by 80%. The dual drive strategy is an excellent way to realize high speed, high precision motion control.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2006年第1期153-156,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2001AA423110)
