桌面级关节型博弈机器人结构设计与性能分析  

Structural Design and Performance Analysis of Desktop Level Joint Gaming Robot

作　　者：曹国强 赵智睿 

机构地区：[1]沈阳航空航天大学工程训练中心,辽宁沈阳110136

出　　处：《机床与液压》2017年第17期6-9,14,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51277126)

摘　　要：为探究适合完成博弈任务的桌面级关节型机器人结构,对5R型关节型工业机器人结构及动力系统、控制系统进行改造。通过倍四元数法分析,得到正确的运动学方程;采用拉格朗日法求取力学平衡方程;利用仿真软件估算工作空间;然后设计了PID控制器保证关节电机的转角精度。经仿真实验表明,改造后的桌面级关节型机器人满足博弈任务。In order to explore the structure of desktop level joint robot which is suitable for the completion of the game task, the structure, dynamic system and controllers of 5R joint industrial robot has been upgraded. The correct equations of motion were obtained by the analysis of double quaternion method. To get the force balance equations, the Lagrange＇s method was used. The work space was estimated by simulation software. The proportion integration differential （PID） controller was designed to ensure the accuracy of angle of joint motor. After a simulation experiment, the transformation of the desktop level robot can meet the gaming work.

关 键 词：桌面级 倍四元数法 拉格朗日法 PID控制器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]