摘要
对辅助起立机器人的位置控制方法进行了研究.在不同频率时,使用位置速度反馈控制对其进行位置控制测试,辅助起立机器人滑动关节的位置精度较好,但旋转关节位置精度较差.在反馈控制系统的基础上增加速度前馈控制之后进行测试,结果表明增加的速度前馈控制可以有效地提高辅助起立机器人两个运动关节的位置精度,其中旋转关节的位置精度明显改善.证明了在反馈控制的基础上增加速度前馈控制可以有效提高辅助起立机器人位置精度.
The methods of position control for an assistive standing-up robot is studied. Position control tests are carried out under different frequencies using position/velocity feedback control. The position accuracy of sliding joint of the assistive standing-up robot is higher, but that of rotary joint is lower. The velocity feed-forward control is added based on feedback control and new tests are carried out. The results show that the position accuracy of two joints of the assistive standing-up robot is significantly improved by adding velocity feed-forward control, especially for rotary joint. It proves that the position accuracy of assistive standing-up robot is effectively improved by adding the velocity feed-forward control based on feedback control.
出处
《机器人》
EI
CSCD
北大核心
2012年第6期641-645,696,共6页
Robot
基金
国家自然科学基金资助项目(50575053)
中国与斯洛文尼亚政府间科技项目(9-7)
关键词
辅助起立机器人
位置控制
速度前馈控制
关节运动
assistive standing-up robot
position control
velocity feed-forward control
joint motion
