摘要
提出一种基于三电机驱动的新型二自由度机器人关节。基于双电机消隙原理,提出一种二自由度关节多电机消隙机制,并针对消隙后的其他非线性因素的扰动影响设计了基于线性自抗扰算法的速度控制器。样机实验结果证明了关节结构的合理性,表明本文算法可为位置外环提供稳定性和鲁棒性较强的速度内环,可提高二自由度关节的位置精度。
A new type of joint driven by three motors with two degrees of freedom is proposed.Based on the principle of dual motor anti-backlash,an anti-backlash mechanism of the novel three-motor joint with two degrees of freedom is proposed,and a speed controller based on the linear active disturbance rejection control is designed for other nonlinear factors after eliminating the backlash.The experiment results show that the structure of the joint is correct,and the proposed control algorithm can provide better stability to the outside position loop and strong robustness to the inside velocity loop,which improves the precision of the joint with two degrees of freedom.
作者
徐妍
房立金
刘勋
刘亚秋
XU Yan;FANG Lijin;LIU Xun;LIU Yaqiu(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;School of Robot Science and Engineering,Northeastern University,Shenyang 110169,China;School of Information and Computer Engineering,Northeast Forestry University,Harbin 150040,China)
出处
《机械设计与研究》
CSCD
北大核心
2021年第4期30-37,共8页
Machine Design And Research
基金
辽宁省自然科学基金项目(2019-KF-04-03)。
关键词
二自由度关节
多电机系统
消隙控制
线性自抗扰控制
速度环
joint with two degree of freedom
multi-motor system
anti-backlash control
linearactive disturbance rejection control
velocity loop
