两关节操作臂动态特性的试验研究

EXPERIMETN AND STUDY ON DYNAMIC CHARACTERISTICS OF TWO-JOINT OPERATING ARM

研究制作了两关节机器人操作臂 ,利用 PD反馈控制法 ,对其进行了位置和轨迹跟踪试验 .在测试数据和图形处理的基础上 ,利用梯度法从理论上分析确定其数学模型各参数的估计值 ,在计算机上完成仿真研究 ,试验结果验证了该模型具有良好的稳定性 ,能实现操作臂的位置、轨迹和速度等的精确控制 .

After analyzing two joint operating arm is designed. The experiment on position and track of the arm is processed with PD feedback control method. Basing on the analysis of test data and image manipulation, the estimation value in every parameter of mathematics model is achieved with grade method. The simulation study is also processed with computer. The experiment results verify that the position, the track and the velocity of operating arm can be controlled accurately using this mathematics model, and th...