磁悬浮伺服的机器人装配夹具及其智能控制

MAGNETIC LEVITATION SERVO FIXTURE FOR ROBOTICASSEMBLY AND INTELLIGENT CONTROL

首先 ,设计了一种新型磁悬浮伺服的机器人装配夹具 .描述了其结构和静力分析 ;绘制了机器人装配系统示意图 .其次 ,分析了磁悬浮伺服夹具的智能控制 .描述了其静态平衡控制 ;选择了合理的间隙传感器、电磁铁、功率驱动电路、A/ D和 D/ A转换电路作为控制电路的硬件 ;采用基于 CMAC的神经网络控制作为主动柔顺智能控制方式 .然后 ,根据神经网络控制算法应用 VC++语言和 MATL AB软件混合编程 .给出了在 VC++中实现 DL L编程和通过 VC++调用 MATL AB的方法 .

Firstly, a new type of magnetic levitation servo fixture for robotic assembly is designed. Its structure and static analysis are described; schematic of robotic assembly system is drawn. secondly, intelligent control of the magnetic levitation servo fixture are analyzed. Its control of static balance is described; reasonable gap sensor, electromagnet, power drive circuit, A/D and D/A conversion circuits are selected as hardwares of the control circuit; Neurocontrol based on CMAC is adopted as intelligent control method of active complicance. Thirdly, VC++ combined with MATLAB is applyed to programming in virtue of neurocontrol algorithm. Methods of achieving DLL programming in VC++ and calling MATLAB via VC++ are given.