基于传感器的直接驱动机器人动力学建模及控制  

Dynamic Modeling and Control of a Direct Drive Robot with Torque Sensor Feedback

作　　者：贺红林[1] 赵淳生[1] 

机构地区：[1]南京航空航天大学超声电机研究中心,南京210016

出　　处：《机械科学与技术》2005年第4期379-382,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金重点项目(50235010)资助

摘　　要：在关节上引入力矩传感器进行力矩反馈后,推导出了直接驱动机器人的简单的、线性化的、非时变的动力学模型。在此基础上,利用解耦控制法实现了直接驱动机器人的控制。考虑到力矩传感器的引入,可能会导致驱动系统的刚度下降,文中还对力矩传感器的频率特性及关节结构的设计进行了较深入地研究,研究结果表明,只要适当配置转子、关节轴、连杆的转动惯量,就能保证在安装传感器后,驱动系统的刚度基本不下降。A torque sensor is set on the joint of a direct drive robot to measure the torque exerting on the joint, which greatly helps to build the time-independent, simple, and linear dynamic model proposed in this paper. A decoupling control approach is used to control the robot based on the model. To make sure that the stiffness of the drive system of the joint will not be decreased with the assembling of such a sensor, the property of the torque sensor and the design of the joint are studied deeply. The result shows that as long as the inertia of the rotor, the link and the axe are configured properly, the stiffness will not change much.

关 键 词：力矩传感器 直接驱动机器人 动力学模型 解耦控制 

分 类 号：TH24[机械工程—机械制造及自动化]