基于行波超声波电机的新型机器人多自由度关节精密定位控制

Precision positioning control of joint with Multi-degrees of freedom based on traveling-wave ultrasonic motor

文章对基于行波超声电机驱动的新型机器人多自由度关节精密定位控制系统进行了研究。在深入研究负载下行波超声波电机的启动特性、运行特性、调速特性、步进特性、带负载能力的基础上,揭示了负载对微步控制的影响规律,并提出了基于行波超声波电机驱动的机器人多自由度关节精密定位控制方法。文章所给的方法和结论,为行波超声波电机开环精密定位控制的进一步推广打下坚实的基础,研制出的精密定位控制系统不需要使用高精度编码器就可以使关节达到很高的定位精度。

The precise positioning system of joint with multi-degrees of freedom using traveling-wave ultrasonic motor is researched in the paper. Based on the experiments with the starting characteristic, operating characteristic, speed adjustable characteristic, step characteristic and loading capability of ring-type traveling-wave ultrasonic motor, the regularity that the micro-step＇s accuracy for controlling ring-type traveling-wave ultrasonic motor is influenced by different loads has concluded and the novel method for precise controlling of joint with multi-degrees of freedom has put forward in this paper. The results can improve the precision of position control and promote the ring-type traveling-wave ultrasonic motor in open loop. The precise positioning system designed in this paper realizes the high-precision control to the joint without using high precision angular sensor.