基于加速度反馈的机械手位置控制

The Study of Manipulators Position Control Based on Acceleration Feedback

本文首先分析了影响机器人位置控制性能的几个因素。然后针对这些不利因素分析了加速度正反馈和负反馈对它们的不同作用，提出了一种用综合加速度反馈来提高机器人位置控制性能的控制方法。该方法能较大程度地改善机器人阻尼不足的现象，是实现机器人高速高精度控制的一条有效途径。机械手上的实验结果验证了本方法的有效性。

This paper analyses several factors that cut down the control performance of robot position control at first. Then it investigates the different effect of acceleration positive and negative feedback on these disadvantageous factors, and presents a method of integration acceleration feedback to improve the control performance of robot position .This method , which can supply the lack of the damping of the system prodigiously, is the effective approach to the high speed and high precision position control of the robot. And the effectiveness of this approach is verified by both simulation and experiments on the PUMA 560 manipulator.