作　　者： ; ;

机构地区： 湖南大学电气与信息工程学院

出　　处： 《信息与控制》 2013年第4期401-406,共6页

摘　　要： 为了克服重力因素对机械臂控制的影响,提高机械臂的轨迹跟踪性能,在传统固定重力补偿的基础上,结合机器人空间几何特性和扭矩平衡原理推导出各关节的重力补偿函数,针对除冰机器人右臂提出了一种精确的在线重力补偿PD控制策略.实验结果表明,相对于以往一些研究成果和未进行重力补偿的机械臂系统,该策略具有更好的控制性能,同时,对连续信号也具有更好的轨迹跟踪性能. In order to overcome the influence of gravity factor on robot arms and improve tracking performance of robot arms, an accurate online gravity compensation other than fixed value gravity compensation PD control strategy is presented. In this method, robot space geometry and torque balance principle are used to deduce the gravity compensation function of each joint. Then the control design is applied to the right arm model of the deicing robot. The experiment results show that the deicing robot＇s right arm with accurate online gravity compensation control design has better control performance than the past researches and that has no online gravity compensation, and has better tracking performance of continuous signals.

关 键 词： 在线重力补偿 机械臂 除冰机器人

领　　域： [自动化与计算机技术] [自动化与计算机技术]