呼吸参数监测机器人系统的气压伺服控制

Respiratory parameters of pneumatic servo control system to monitor robot

本文研究了机器人移动状态的气压伺服控制,通过对人工筋驱动器进行压力控制实现机器人单步移动时的准位置伺服控制,研究了以气动人工筋驱动器和钳位气囊为控制对象的控制系统,建立控制阀的流量方程,研究了机器人气压(位置)的伺服控制算法,并进行计算机实验仿真分析和研究。

This article has studied the robot migration condition barometric pressure servo-control, through carries on the pressure control realization robot on foot moves when the accurate position servo-control to the artificial muscle driver, has studied take the air operated ＇artificial muscle driver and the clamp aerocyst as the controlled member control system, establishes the control valve the current capacity equation, has studied the robot barometric pressure （position） the servo-control algorithm, and carries on the computer experiment simulation analysis and the research.