机器人控制器中应用加速度反馈的几个问题讨论
Discussion on Several Problems Using Acceleration Feedback in Robot Controller
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摘要: 加速度正反馈与近似积分负反馈相结合的综合加速度反馈在机械手位置控制中的 应用有明显的增阻尼效果,而在力控制中的应用却受到了很多条件的限制.利用PUMA560 机械手力控制的辨识模型,通过仿真手段分析了影响加速度反馈效果的原因,得出了机械手 驱动电机的动态、连杆的柔性和采样延迟是制约加速度反馈作用的主要因素的结论.最后在 此结论指导下的实验结果验证了这个结论的正确性,同时指出了应用加速度反馈的希望所 在.Abstract: The application of integration acceleration feedback which combines acceleration positive feedback and integral negative feedback has obvious effect on enhancing damp in manipulators position control, but the effect is limited by some factors in force control. This paper analyses the factors that limit the effect of acceleration feedback by simulation using the PUMA560's force control identification model. And we draw the conclusion that the dynamic of motors, the flexibility of links and the delay in sampling control are the main issues that limit the effect of acceleration feedback in robot force control. In the end the experiment results on PUMA 560 manipulator verify the conclusion and point out the hope in using acceleration feedback.
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Key words:
- Acceleration feedback /
- manipulator force control /
- sampling delay
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