摘要
该文综述了机械臂动力学建模和动力学控制等相关问题,介绍了基于拉格朗日方程的机械臂动力学方程建模方法,并用此方法建立两连杆机械臂动力学方程,介绍了机械臂动力学控制中的无重力补偿的PD控制及仿真、有重力补偿的PD控制及仿真,通过对比仿真图像,指出在机械臂动力学建模和动力学控制中应解决的问题。这对多刚体系统动力学建模与控制问题的研究有一定的促进作用。
The kinematics modeling and dynamics control of the manipulator are summarized. The kinetic equation modeling method of the manipulator based on Lagrange equation is introduced. The dynamics equation of the two-link manipulator is established and the dynamics of the manipulator is introduced. The PD control and simulation without weight compensation and the PD control and simulation with gravity compensation are introduced. Through the comparison of the simulation images,the structure of the manipulator dynamics control is described in detail. Finally, the dynamic modeling and dynamics control should solve the problem,which has a positive effect on the dynamics modeling and control of multi-rigid-body systems.
作者
刘鹏
王强
张伟
LIU Peng WANG Qiang ZHANG Wei(College of Information and Control Engineering,Liaoning Petrochemical University,Fushun 113000,China StateKey Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《自动化与仪表》
2017年第3期9-12,共4页
Automation & Instrumentation
关键词
动力学建模
重力补偿
动力学控制
PD控制
dynamic modeling
gravity compensation
dynamic control
PD control
