二自由度控制机器人直接驱动系统

A DIRECT-DRIVE ROBOT SYSTEM BY MEANS OF TWO-DEGREES-OF-FREEDOM CONTROL

为适应直接驱动机器人惯性大范围变化的特点,在常规伺服系统的基础上增加了一个无源自适应环节以降低系统对于控制对象参数变化的灵敏度,导出了系统常规控制器和无源自适应环节(或称为灵敏度补偿器)的参数可以独立设计——即所谓二自由度控制的条件.实时控制实验结果表明,这种二自由度控制方案在对象的机电时间常数产生大范围变化的情况下能获得满意的动、静态特性,且实验容易,有较大的工程适用价值.

To meet the control requirement of Direct-Drive Robot in which the large inertia variations exist,this pa-per presents a passive adaptive controller which reduces the sensitivity of the parameter variations.The con-ditions under which conventional controller parameters and passive adaptive controller parameters can be de-signed independently are derived.Experimental results show that the proposed method can get sigificant fea-ture in presence of large variations of the electro-mechanical time constant of the object.The proposedmethod can be realized easily and may be applied in engineering.