直接示教机器人全数字控制系统设计  

Design of Digital Controller for Direct Teaching Robot

作　　者：张宇[1] 游有鹏[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2013年第3期57-60,共4页Machinery & Electronics

基　　金：国家自然科学基金项目(50975144)

摘　　要：针对机器人示教盒示教效率低、操作烦琐这一现状,提出一种基于力矩控制的直接示教方法。通过实时计算并补偿机械臂自重和摩擦力所产生的关节力矩,使得对机械臂的示教更为灵活、轻便。为降低机器人系统的成本,设计了适用于以直流伺服电机作为关节电机的,集控制和驱动为一体的机器人全数字控制器,并进行了样机试验,验证了本方案的有效性。The robot teaching by using teaching box is usually tedious and low efficiency, fore,a new teaching method based on torq trol was proposed. By calculatin the torque caused by gravity teaching became much more there-ue con g and compensating and friction, robot flexible and light-weight. In order to reduce the cost of robot sys-tem,a both control and drive function integrated digital controller which is only available for DC servo motor was developed. The designed control-ler was tested in a robot prototype. Experiments showed that the program was effective.

关 键 词：示教机器人 力矩补偿 全数字控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]