摘要
基于石化储罐除锈机器人在壁面上水平运动时容易发生姿态倾斜现象的研究,提出了除锈机器人姿态控制系统,该系统提出了控制系统总体结构,构建了除锈机器人静力学模型,并通过力学分析得出除锈机器工作时由于正压力不同等原因导致了姿态倾斜。设计的除锈机器人姿态自补偿控制系统,采用基于陀螺仪及编码器信息结合改进式PID算法的控制策略有效的解决了机器人姿态倾斜问题。通过仿真实验和机器人现场实验验证了该控制系统的有效性。
A Gesture Control System was proposed based onphenomenon that Rust Removal Robot for petrochemical tank frequently tilted when it walked on the wall.The overall structure of the control system is put forward,and the static model of robot is constructed.The reason of the robot tilting is obtained by mechanical analysis.The attitude compensation system of the robot designed in this paper effectively solves the problem of robot tilt by using the control strategy based on the gyro and encoder information combined with the improved PID algorithm.The effectiveness of the control system is verified by simulation and field experiments.
作者
霍建玲
张明路
孙凌宇
张小俊
HUO Jian-ling;ZHANG Ming-lu;SUN Ling-yu;ZHANG Xiao-jun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)
出处
《机械设计与制造》
北大核心
2019年第11期238-241,共4页
Machinery Design & Manufacture
