摘要
讨论了３自由度气动比例／伺服机械手的连续轨迹控制，建立了系统的数学模型，通过采用最优状态反馈、ＰＩ环节和扰动观测补偿实现了气动比例／伺服系统的连续轨迹跟踪，并以毛笔书法轨迹为对象进行了试验研究。试验分析表明，气动比例／伺服机械手可实现较高的控制精度，在许多工业自动化领域，完全可以与价格昂贵的电动机伺服系统媲美。
The continuous trajectory tracking control to pneumatic-servo robot with three-degree-Of-freedom is discussed. The mathematical model of system is presented. With the optimal state-feedback, PI control and disturbance observer compensation being used in pneumatic-servo system, the well continuous trajectory tracking is achieved. It is experimented to tracking calligraphy trajectory. Experiment results show that the pneumatic-servo robot has excellent accuracy and can rival the expensive electro-servo robot in many area of industry.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2001年第3期65-69,共5页
Journal of Mechanical Engineering
基金
国家863智能机器人主题资助项目(863-512-9934-05)
浙江省科技计划重点资助项目(001606128)
关键词
机械手
气动比例/伺服
连续轨迹
最优状态反馈
扰动观测
Robot
Pneumatic-servo
Continuous trajectory
Optimal state-feedback
Insturbance observer
