摘要
为提高工业机器人的控制及示教水平,首先设计串联弹性驱动器关节机械臂零力控制系统和比例-积分-微分(proportion integration differentiation,PID)位置控制系统,然后搭建MATLAB仿真系统,最后采用串联弹性驱动器力跟踪实验的方法,研究了串联弹性驱动器关节机械臂零力控制系统的正确性和控制算法的可行性。结果表明:设计的机器人零力控制系统和控制策略能够提高机器人的柔顺性和控制效率。可见,基于力/位置混合的驱动控制方法,在实现机器人在到达指定位置的同时,能够提高机器人示教水平。
In order to improve the control and teaching level of industrial robots, the zero force control system and proportion integration differentiation (PID) position control system of the joint manipulator with series elastic actuator were designed. Then the MATLAB simulation system was built. Finally, the force tracking experiment method of series elastic actuator was adopted to analyze the correctness of the zero force control system and the feasibility of the control algorithm. The results show that the zero-force control system and control strategy designed can improve the flexibility and control efficiency of the robot. It is found that the driving control method based on force/position hybrid can not only achieve the robot reaching the designated position, but also improve the robot teaching level.
作者
王凤华
史英明
万媛
WANG Feng-hua;SHI Ying-ming;WAN Yuan(Tangshan Polytechnic College,Tangshan 063299,China;School of Materials Science and Engineering,Hebei University of Technology,Tianjin 300401,China)
出处
《科学技术与工程》
北大核心
2020年第2期642-647,共6页
Science Technology and Engineering
基金
国家自然科学基金(61803142)。
关键词
串联弹性驱动单元
力/位置控制算法
零力控制
PID控制器
series elastic driving unit
force/position control algorithms
zero force control
proportion integration differentiation(PID)-controller
