移动系统测试机械臂控制系统设计

2013 International Conference on Process Control (PC) Pub Date : 2013-06-18 DOI:10.1109/PC.2013.6581416

M. Goubej, J. Mertl, P. Balda

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引用次数: 0

摘要

本文研究了为汽车工业开发的用于换挡系统自动化测试的机械手。介绍了力位混合运动控制的建模和控制设计过程、试验台的搭建和实验结果。所提出的控制结构具有最小的基于特征的参数集，即使是非熟练的操作员也可以在可变测试条件下快速在线调整。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control system design of robotic manipulator for testing of shifting system

The paper deals with robotic manipulator for automated testing of shifting system which was developed for automotive industry. Procedure of modelling and control design for hybrid force/position motion control as well as construction of the test stand and experimental results are presented. The proposed control structure with minimum set of feature-based parameters allows rapid online tuning in case of variable testing conditions even by an unskilled operator.

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2013 International Conference on Process Control (PC)

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