0洁净机器人手臂的转动惯量分析及运动控制.pdfVIP

: 100 1- 2265 ( 2007) 03- 0034 - 03 洁净机器人手臂的转动惯量分析及运动控制* 1, 2 1, 3 于雷 , 徐方 ( 1. 中国科学院沈阳自动化研究所, 沈阳 110016 2. 中国科学院研究生院, 北京 100049 3. 沈阳新松 机器人自动化股份有限公司, 沈阳 110168) : 针对洁净机器人手臂的转动惯量对系统动态性能的影响, 在利用动能公式分 得到其转动惯量与 位置关系的基础上, 提出了一种位置 P I闭环加前馈参数整定的控制方法该控制方法是由位置值实时 得到转动惯量, 再由转动惯量来实时整定 P I参数仿真结果表明了该控制方法能有效抑制转动惯量的 变化对系统动态性能的影响, 且简单可行 : 洁净机器人 转动惯量 P I 前馈 参数整定 : TP273 : A Inertia Analy sis and M otion C on trol of a C lean- room M an ipu later 1, 2 1, 3 YU Le i , XU F ang ( 1. Shenyang In st itute of A utom at ion, Chinese A cadem y o f Sc iences, Shenyang 110016, China 2. Graduate Schoo l o f the Chinese A cadem y o f Sciences, B eijing 100049, Ch ina) Abs tract: A mi ing at the influ ence of the inert ia o f a c lean- room m an ipulater on the system perform ance, b ased on creating the re lation o f inertia and position using the k inetic energy form ula, the paper presents a kind o f contro l strategy w ith posit ion P I closed loop and feed-forw ard p araneter tun ing. The contro l strategy is th at ga-i n ing inertia real- tmi e from position, and tuning paraneter P I using the inert ia. T he smi ulat ion results show th at it Can not on ly restrain the influence of the variant inert ia on the system p erfo rm ance efectively, bu t also be mi - p lem ented m ore easily. K ey w ord s: clean- room robot Inertia P I feed-forw ard p araneter tuning , 0 , , , , : , , , , , ,