仿人手臂的变刚度调节与位置控制技术研究  

Research on Control Technology of Variable Stiffness Adjustment and Position of Apery Armn

作　　者：丛中笑 

机构地区：[1]山西省同力计算机联合公司,山西太原030012

出　　处：《科技创新与生产力》2014年第1期66-69,共4页Sci-tech Innovation and Productivity

摘　　要：提出了一种采用仿生结构及气动肌肉差压控制方式的机器人手臂,使关节具有了很好的柔顺性。通过理论分析和实验测试给出了一种易于实现的关节刚度比例调节方法。实验结果表明,采用此种刚度比例调节的关节可以有效跟踪方波信号和正弦波信号,控制精度达到了±0.6°,较好地解决了高柔顺关节位置控制精度差的问题。The paper was proposed a robot arm by using bionic structure and pneumatic muscle make joint has good flexibil-ity. Through the theoretical analysis and experimental test, the paper was given stiffness ratio control method of easy to im-plement. Experimental results has showed that the stiffness ratio control of joint can effectively track the sine wave and square wave signals, the control accuracy reached plus or minus 0.6°, which solved control precision of high soft joints.

关 键 词：气动肌肉 机械手臂 柔顺性 PID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]