基于行波超声波电机直接驱动的机械臂精密定位系统研制  

High-Precision Positioning System of Manipulator Based on Direct Driving Mechanism Using Traveling-wave Ultrasonic Motor

作　　者：华亮[1] 李宪章[1] 吴晓[2] 

机构地区：[1]浙江工业大学智能信息研究所,浙江杭州310032 [2]南通大学电气工程学院,江苏南通226007

出　　处：《电机与控制应用》2007年第11期23-28,40,共7页Electric machines & control application

基　　金：南通市应用研究计划项目(K2007023)

摘　　要：研制了基于行波超声波电机与步进电机驱动的机器人多自由度机械臂精密定位控制系统。采用行波超声波微步控制技术实现了机械臂低速下的高精度定位控制,并在理论与试验研究基础上提出了一种实用的行波超声波电机精密定位控制方法。此外,还进行了定位误差分析及控制系统设计。所给的方法简单易行,在超声波电机精密定位中具有普遍的应用意义和广泛的应用价值。该方法成功运用于机器人机械臂控制中,不需要使用高精度角位移传感器就可使机械臂达到很高的定位精度。The development of a high-precision position system design method for robotic muhi-DOF manipulator using traveling-wave ultrasonic motor and step motor is put forward. High-precision positioning control method of ma- nipulator based on micro-step control method using TRUSM is introduced. A novel precise position control method of TRUSM which has features of practicability is introduced and theoretical and experimental studies are completed. Moreover, the paper dedicated to study on the position error analysis and control system design method. The methods and conclusions put forward in the paper can highly enhance precision of position of USM and have broad prospect in application. The control system for the manipulator with multi-DOF realizes the high-precision control to the joint without using high precise angular sensor.

关 键 词：行波超声波电机 微步控制 机械臂 精密定位 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]