超声电机在机器人关节路径规划中的应用

Application of Ultrasonic Motor in Robot Joint Path Planning

介绍了机器人多自由度关节的结构和特点,分析了机器人关节的路径规划问题。在此基础上,将超声电机应用于机器人关节路径规划中,并介绍了超声电机精密定位控制方法和基于占空比调节的超声电机简便转速控制方法。通过研究确认,将超声电机应用于机器人关节路径规划中,不需要高精度编码器,就可以使机器人关节达到较高的定位精度。

The structure and characteristics of robot multi-DOF joints were introduced, and the issue on robot joint path planning was analyzed. On this basis, the ultrasonic motor was applied to the robot joint path planning, and the control mode for precise positioning of the ultrasonic motor and the simple control method for rotation speed of the ultrasonic motor based on the duty cycle adjustment were introduced.Through research, it is confirmed that when the ultrasonic motor is applied to the robot joint path planning,high positioning accuracy of the robot joint could be achieved without the need of high precision encoder.