一自由度机械手的高速运动控制方法

2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon) Pub Date : 2019-10-01 DOI:10.1109/FarEastCon.2019.8934267

V. Filaretov, I. Gornostaev

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引用次数: 0

摘要

提出了一种考虑电驱动输入电压限制的1自由度机械臂高速运动控制方法，以保证在输送机上精确执行工艺操作。在工艺操作过程中，会出现机械臂质量-惯性特性(参数)在较大范围内变化的情况。这种方法还允许考虑这些参数的变化。加速度是由机械手电动驱动器在预饱和状态下的操作提供的，但在功率放大器的线性区。仿真结果验证了该方法的有效性。

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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Method of High Speed Control of Movement of the 1-DoF Manipulator

A method has been developed for high-speed motion control of a 1-DoF manipulator, ensuring of exact implementation of technological operations on a conveyor, with taking into account restrictions on the input voltage of its electric drive. During performance of the technological operations there are situations when mass-inertial characteristics (parameters) of the manipulator vary within wide limits. This method also allows to take into account these parameter changes. The acceleration is provided by the operation of the manipulator electric drive in a pre-saturated state but in the linear zone of the power amplifier. The results of the performed simulation confirmed the high efficiency of the proposed method.

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来源期刊

2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

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