基于力矩前馈的重载机器人控制研究与实现

Control and Realization of Heavy Duty Robot Based on the Feedforward Torque Technology

利用机器人控制器良好的实时特性和灵活软件平台,在机器人运动空间轨迹中,获得机器人关节实时位置、速度、加速度以及力矩数据,完成了机器人静态参数与动态参数辩识,得到精确的机器人系统数学模型。在获得数学模型的基础上,给出了设定位置、设定速度及加速度值并根据当前值和机械常数计算出整个运动过程的惯量变化,并计算出力矩输出的前馈值给电机,该值与控制器给定值在电流环中的控制输出进行叠加,使得扭矩输出可以快速的实现稳态调整,从而降低扭矩输出的偏差,保证机器人具有良好的动态性能。

Based on the real-time characteristics and the software platform controller,this paper can get the datum of instant position,speed,acceleration and torque of the robot joint in its workspace,which are used to identify the static and dynamic parameters and build the accurately mathematical model of the robot system. Based on this,output position,velocity,acceleration values are given out. The FF torque value is calculated according to the static and dynamic parameters,then this torque value is added to motor＇s torque values of the joints and then the torque values are applied to the feedforward control to reduce the torque output errors and ensure the dynamic performance of the robot.