新型雕刻机器人控制策略的研究

Study on Control Strategy of 5-DOF-Hybrid Robot

建立了新型雕刻机器人的雕刻并联头的运动学模型,计算出了运动学的正解和反解;研究了新型雕刻并联工作头的控制策略,建立了PD算法、PD加重力补偿算法和计算力矩法3种控制策略的模型;采用Matlab/Simulink软件,仿真了3种算法搭建的数学模型,比较得出了不同控制算法的优劣。结果表明,在3种控制策略中,计算力矩法的位置控制效果最好,能够保证系统有较强的抗干扰性。所以,新型雕刻机器人选用计算力矩法作为自身的控制策略。

Firstly ,kinematics model of the new hybrid engraving robot is created and the positive and inverse kinematics solution are calculated ;sec-ondly ,control strategy of the new hybrid engraving robot is studied and three kinds of control strate-gies ,w hich are PD algorithm ,PD gravity compen-sation algorithm and computed torque algorithm , are established ;in the end ,mathematical model of the three algorithms is simulated by Matlab/Simu-link software and compares the pros and cons of different control algorithms .It turned out that in three kinds of control strategies ,position control effect of computed torque algorithm is the best and it can ensure that the system has strong anti jam-ming .So computed torque algorithm is adopted as control strategy of the engraving parallel head .