摘要
采用速度跟踪来控制六通道并联机器人的运行姿态,采用位置监控来保证点位精度,采用双自由度 PID 控制器,就微机控制并联机器人电液伺服系统的干扰抑制特性和抵抗参数变化的适应能力和系统的响应特性进行了仿真实验和参数优化。仿真结果表明,该系统既可满足对目标跟踪的品质要求,又可对系统的负载干扰进行有效的抑制,能够较好地满足并联机器人的控制要求。
The operating attitude of jointed robots with 6 channels is cont- rolled by speed tracking.The position monitoring guarantees point to point accu- racy.Using PID controller,with two degrees of freedom,make simulation expe- riment and parameter optimization for interference depression characteristic and adaptive ability,resistant to parameter change,in eleetrohydraulic servo system of jointed robots,controlled by microprocessor.The simulation results show,this system not only accord with characteristic demand from target tracking,but can effectively depress the interference with system load and better meet the control condition of jointed robots.
出处
《机床与液压》
北大核心
1992年第3期112-117,共6页
Machine Tool & Hydraulics
