摘要
提出并介绍了用两台同轴直流电动机建立对机器人关节机械负载进行模拟的实验系统,建立了此系统模型。采用基于速度跟踪的控制算法,对建立的数学模型就此控制算法在Matlab/Simulink下进行仿真。最后对实验系统进行了性能测试和负载模拟的实验,证明了基于速度跟踪的算法和此实验系统对机器人关节的非线性机械负载进行模拟是可行有效的,但系统动态性能和精度尚待进一步提高。
An experimental system mainly consisting of two direct-link DC motors for emulating mechanical loads on robot joint was proposed and introduced before the establishment of its mathematical model.Speed-tracking control algorithm was used in this paper.Meanwhile,the mathematical model and the control algorithm were simulated through Matlab/Simulink.Finally,the performance of the experimental system was tested.And the mechanical load emulation experiments prove that the speed-tracking algorithm and the experimental system are feasible and effective for emulating non-linear mechanical loads on robot joints.
出处
《微特电机》
北大核心
2010年第2期55-58,共4页
Small & Special Electrical Machines
