摘要
多自由度机器人的研究在近年来被广泛开展,但是多激励下的控制难度较大,在此基础上,提出一种摩擦力控制的多自由度机器人控制策略,并对机器人的轨迹规划进行研究,首先建立单激励力下的压电驱动机器人动力学模型,然后针对离心激励机器人及运动副自由度电磁控制策略进行分析,最后对单一机器人精密轨迹规划算法展开研究。针对不平衡单一旋转周期内和旋转周期为10次进行运动轨迹与理想位移的实验对比,不平衡单一旋转周期内机器人的位移ΔSi=10^-3m,偏差ε=9.98×10^-6m,实验结果表明,摩擦控制角越大,能够实现的位移越大,但是沿着X轴的偏差也会随之增大。通过研究,为少驱动多自由度的机器人研究提供基础。
The research of multi-degree-of-freedom robot is widely carried out in recent years,but it is difficult to control under multi-excitation.On this basis,it proposes a multi-degree-of-freedom robot control strategy with friction control,The dynamic model of the piezoelectric actuator under single excitation force is established.Then,the electromagnetic control strategy of centrifugal excitation robot and kinematics is analyzed.Finally,the precision trajectory planning algorithm of single robot is studied.The motion trajectory is compared with the ideal displacement in a single rotation period and the rotation period of 10 times.The imbalance of the displacementΔSi=10^-3m and deviationε=9.98×10^-6m of the robot in a single rotation cycle is shown.The experimental results show that the larger the friction control angle can be achieved The larger the displacement,but the deviation along the X axis will increase.We provide the basis for the study of robot with less freedom.
作者
张晓莹
乔书杰
ZHANG Xiao-ying;QIAO Shu-jie(College of Mechanical Engineering,Zhengzhou University of Science&Technology,He’nan Zhengzhou450064,China;Institute of Electrical and Mechanical and Automotive Engineering,Zhengzhou University of Finance and Econmics,He’nan Zhengzhou450000,China)
出处
《机械设计与制造》
北大核心
2019年第9期115-118,共4页
Machinery Design & Manufacture
基金
河南省科技厅科技攻关项目(162102310236)
河南省教育厅高等学校重点科研项目(18B460019)
关键词
机器人
多自由度
轨迹规划
单激励
控制
Robot
Multi-Degree of Freedom
Trajectory Planning
Single Excitation
Control
