挖掘装置操作臂末端轨迹控制的试验研究

Research on Tail End Track Control of the Manipulator Fixed on an Excavator

对排雷机器人挖掘装置的操作臂系统进行了动力学分析 ,建立了其动力学方程 ;利用 PD反馈控制法对操作臂的末端轨迹控制进行了测试试验。测试结果表明 ,控制系统使操作臂具有较好的摆角收敛性 ;位置精度在 X方向的误差值小于 2 3mm,误差率小于 2 .3% ,在 Y方向的误差值小于 1 6mm,误差率小于 2 .0 % 。

According to the structure of manipulator fixed on an excavator, dynamics analysis is run, and the dynamics equation is established. Control experiments on the manipulator tail end track are completed with PD feedback control method. Testing results show that the control system can made the manipulator to turn to the target angle accurately, the errors between the tested data and the target data of the manipulator tail end positions are less than 2.3cm in x axis and 1.6cm in y axis. The excavator and its manipulator can be applied in intelligent robot to dig the unexposed mine accurately for its precise track control.