摘要
为了提高机器人末端的位置控制精度,以Power Cube模块化机器人为研究对象,采用一种基于Optotrak3020运动测量系统的实时位置反馈控制方法,进行机器人复杂的轨迹跟踪控制研究.分析Power Cube模块机器人的系统结构,关节角度偏差测量,实时位置反馈控制方法的概念及控制结构,然后以模块机器人跟踪一平面圆弧轨迹为例进行三维仿真和实验,验证了该控制方法及实验系统的有效性和可靠性.
To improve the control accuracy of robot tip, according to the Power Cube modular robot system, the real-time position feedback control method based on the Optotrak3020 motion measurement system is presented and the complicated trajectory tracking control of the modular robot is studied. Power Cube modular robot system structure, measurement of joint angle error, and control concept and structure of real-time position feedback are investigated, respectively. Then, through a 3D simulation and experiment of the modular robot arm for tracking a plane circular are, the feasibility and validity of the control strategy and experimental system are verified.
出处
《北京工业大学学报》
EI
CAS
CSCD
北大核心
2012年第8期1136-1142,共7页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(50875002)
