文献扫描机器人多关节机械臂滑膜控制系统设计
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摘要
为提升机器人机械臂关节的传动性能,使其处于良好的反步自适应工作环境,设计文献扫描机器人多关节机械臂滑膜控制系统;利用关键控制电路,实现机械臂全局PID滑膜控制器与机器人多关节滑膜控制器间的定向连接,完成新型控制系统的硬件运行环境搭建;通过机器人控制传感器标定操作,建立等效控制及动态滑膜方程,并利用上述计算结果界定机械臂滑膜的动态品质,实现新型控制系统的软件运行环境搭建,结合软、硬件运行单元,完成文献扫描机器人多关节机械臂滑膜控制系统设计;模拟文献扫描机器人多关节机械臂运行状态,设计对比实验结果表明,与传统系统相比应用新型滑膜控制系统后,机械臂关节的传动能力得到有效提升,反步自适应参数最大值可达到1.70。
In order to improve the transmission performance of the joint of the robot manipulator and make it in a good backstepping adaptive working environment,the synovial membrane control system of the multi-joint manipulator of the literature scanning robot is designed.By using the key control circuit,the directional connection between the global PID synovial controller of the manipulator and the multi-joint synovial controller of the robot is realized,and the hardware operation environment of the new control system is built.The equivalent control and dynamic synovial equation are established through the calibration operation of the sensor controlled by the robot,and the dynamic quality of the mechanical arm's synovial membrane is defined by the above calculation results.The software operating environment of the new control system is built.The design of the multi-joint mechanical arm synovial membrane control system of the literature scanning robot is completed by combining the software and hardware operating units.By simulating the running state of the multi-joint manipulator of literature scanning robot,the design and comparison experiment results show that the transmission ability of the joint of the manipulator can be effectively improved,and the maximum value of the back-stepping adaptive parameters can reach 1.70 when the new synovial control system is applied compared with the traditional system.
In order to improve the transmission performance of the joint of the robot manipulator and make it in a good backstepping adaptive working environment,the synovial membrane control system of the multi-joint manipulator of the literature scanning robot is designed.By using the key control circuit,the directional connection between the global PID synovial controller of the manipulator and the multi-joint synovial controller of the robot is realized,and the hardware operation environment of the new control system is built.The equivalent control and dynamic synovial equation are established through the calibration operation of the sensor controlled by the robot,and the dynamic quality of the mechanical arm's synovial membrane is defined by the above calculation results.The software operating environment of the new control system is built.The design of the multi-joint mechanical arm synovial membrane control system of the literature scanning robot is completed by combining the software and hardware operating units.By simulating the running state of the multi-joint manipulator of literature scanning robot,the design and comparison experiment results show that the transmission ability of the joint of the manipulator can be effectively improved,and the maximum value of the back-stepping adaptive parameters can reach 1.70 when the new synovial control system is applied compared with the traditional system.
引文
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[2]梁捷,陈力,梁频.柔性空间机器人基于关节柔性补偿控制器与虚拟力概念的模糊全局滑模控制及振动主动抑制[J].振动与冲击,2016,35(18):62-70.
[3]梁明轩,李正刚,唐任仲,等.基于柔性多体动力学的机械臂结构优化设计[J].中国机械工程,2017,28(21):2562-2566.
[4]罗陆锋,邹湘军,程堂灿,等.采摘机器人视觉定位及行为控制的硬件在环虚拟试验系统设计[J].农业工程学报,2017,33(4):39-46.
[5]李连中,翟敬梅,何海洋.机器人虚拟仿真及远程控制系统的研究及实现[J].计算机工程与应用,2016,52(13):238-242.
[6]王海,薛彬,杨春来,等.基于压电陶瓷的柔性机器人主动抑振控制策略研究[J].传感技术学报,2016,29(7):1016-1020.
[7]杜峰,孙瑛,李公法,等.二自由度关节型机器人的自适应模糊滑模控制[J].武汉科技大学学报,2017,40(6):446-450.
[8]程靖,陈力.双臂空间机器人捕获航天器后的镇定运动分块滑模自适应神经网络控制[J].中国机械工程,2017,28(12):1427-1433.
[9]杨婷,贾朝川,吴从兵.基于Lyapunov稳定性的多自由度机械臂滑膜控制[J].齐齐哈尔大学学报(自然科学版),2017,33(3):25-30.
[10]陈健,史政,黄伟,等.基于EtherCAT的三次元高速多工位送料机械手控制系统设计与实现[J].机床与液压,2016,44(5):127-130.