水轮机修复专用机器人末端关节摩擦补偿  

Research on Friction Compensation on End Joint Maintenance by Hydraulic Turbine for Special-purpose Robot

作　　者：袁小鹏[1] 李春玲[1] 

机构地区：[1]兰州理工大学,甘肃兰州730050

出　　处：《新技术新工艺》2009年第5期47-48,共2页New Technology & New Process

摘　　要：对水轮机修复机器人的末端关节,建立了包含摩擦非线性因素在内的单关节伺服模型,采用能完善描述摩擦动静态因素的LuGre模型,在MATLAB下将其转换为仿真模型,验证了补偿的有效性,机器人的响应速度、动态特性取得了满意的效果。In tbis paper, single robot joint servo model which including nonlinear friction factors is established, contrary to the end joint maintenance of special-- purpose robot. LuGre model for friction compensation is converted into simulation model by MATLAB, computer simulation results verify the effectiveness of compensation, and demonstrate the robot can a chieve better perlormance, especially higher static and dynamic performance.

关 键 词：水轮机修复机器人 摩擦补偿 仿真 

分 类 号：U464.136.5[机械工程—车辆工程]