摘要
在对上海Ⅱ号机器人进行系统动力学建模的基础上,全面系统地分析了SIR-Ⅱ机器人在起动和停止时产生抖动的原因。对控制策略提出了几种改进方案,对这几种改进方案的动态特性进行了仿真、分析和比较后选出了合理的改进方案。本文的计算和仿真均在APOLLO CAD工作站上用C语言实现。
In this thesis, the vibration causes of SIR-Ⅱ generated in starting and stopping motion have been analyzed perfectly and systematically. Based on the system dynamics modelling of SIR-Ⅱ, a few kinds of improved control projects have been presented Compared with improved control projects, the most available project is selected. All calculation and simulation are implemented in c computer language on APOLLO CAD workstation.
关键词
机器人
系统动力学
建模
控制策略
industry robot
vibration
system dynamics modelling
simulation
control strategy
