助餐机器人轨迹跟踪控制实验研究  

Experimental Research on Trajectory Tracking Control System of Meal-Assistance Robot

作　　者：王岚[1] 邹宇鹏[1] 李彦涛[1] 赵凌燕 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《测控技术》2010年第8期50-53,共4页Measurement & Control Technology

基　　金：国家科技型中小企业创新基金(08C26212301760);哈尔滨市创新基金(2009RFKXG009);中央高校基本科研业务费专项资金资助

摘　　要：助餐机器人机械本体由三自由度机械手和旋转桌面构成。在完成助餐机器人控制系统硬件电路基础上,利用dSPACE软硬件环境和Matlab/Simulink系统建模方法,搭建了助餐机器人控制系统的半物理仿真实验平台。完成了助餐机器人伺服控制系统的研究与开发,设计了机器人控制器,同时完成了助餐机器人肘关节和腕关节的直线轨迹与圆弧轨迹跟踪实验,获得了理想的实验结果,为整个助餐机器人系统的控制研究奠定了基础。The mechanical noumenon of meal-assistance robot is composed of a 3-DOF manipulator and a rotating desk.After the completion of the hardware circuit of the control system,a hardware-in-the-loop simulation platform of meal-assistance robot control system is established by utilizing system modeling method of Matlab/Simulink and environment of dSPACE software and hardware.The servo system and the controller of the meal-assistance robot are investigated,at the same time,a straight line trajectory and a circinal trajectory tracking experiments of elbow joint and wrist joint are carried out.A satisfactory result is achieved,which lays the foundation for the further research.

关 键 词：助餐机器人 DSPACE 半物理仿真 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]