摘要
考虑机器人的关节柔性,基于级联系统的结构建立具有三角自治形式的机器人动力学模型,分为连杆动力学和扭矩误差动力学,具有渐进稳定性。设计具有力矩控制误差输入的柔性关节机器人导纳控制器,控制器中包含多级反馈输入。建立系统数学仿真模型,仿真验证了基于级联系统的柔性关节机器人导纳控制器对于低刚度环境的快速响应能力,以及关节柔性对于机器人控制精度的影响。
Considering the joint flexibility of the robot,the robot dynamics model with triangular autonomy was built based on the structure of the cascade system.It can be divided into the dynamics of the linkage and the dynamics of the torque error,with asymptotically stability.On the basis of above work,a flexible joint robots admittance controller with torque control error input was designed,which has multi-level feedback inputs.Through the mathematical model simulation,the ability of the flexible joint robots admittance controller based on the cascade system to respond to low-stiffness environment was verified in the simulation,and the influence of joint flexibility on the control precision of the robots was considered.
作者
宋勇
李成刚
吴泽枫
储亚东
陈飞翔
SONG Yong;LI Chenggang;WU Zefeng;CHU Yadong;CHEN Feixiang(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械与电子》
2019年第12期77-80,共4页
Machinery & Electronics
关键词
级联系统
力矩控制误差
导纳控制
cascade system
torque control error
admittance control
