摘要
对机械手臂动态抓取以及NJ控制器的运作机理与算法等进行深入的探究,并进行NJ运动控制器的仿真实验。结果显示,NJ运动控制器伺服电机的实际转速在发生较大的变化时,所需的时间极短,仅仅需要0.32 s;实际转速完全跟随给定转速的时间,同样也可有效控制在0.22 s左右;在添加诸如白噪声等一定干扰因素的条件下,NJ伺服电机的实际转速仍可在既定短时间内与给定转速保持一致,且存在的误差极小。这表明基于NJ运动控制器的机械手臂具有较高的性能,能准确完成动态抓取。
The dynamic grasp of manipulator and the operation mechanism and algorithm of NJ controller are deeply explored,and the simulation experiment of NJ motion controller is carried out.The results show that when the actual speed of NJ motion controller servo motor changes greatly,the time required is very short,only 0.32s;the actual speed completely follows the given speed,it can also be effectively controlled at about 0.22s;under the condition of adding certain interference factors such as white noise,the actual speed of NJ servo motor can still be given in a short time.The rotational speed is consistent and the error is very small.This shows that the manipulator based on NJ motion controller has high performance and can accurately complete dynamic grasping.
作者
郑晓斌
ZHENG Xiaobin(Fujian Vocational College of Shipping Administration,Fuzhou,Fujian 350007,China)
出处
《武夷学院学报》
2021年第9期51-55,共5页
Journal of Wuyi University
基金
2019年福建省中青年教师教育科研项目“机械臂驱动控制系统的智能化参数免调式技术研究”(JAT191190)。
