机械臂控制中的激光距离控制器设计  

Design of laser range controller in robot arm manipulator

作　　者：刘长荣[1] 姜仲秋[1] 

机构地区：[1]淮安信息职业技术学院,江苏淮安223003

出　　处：《激光杂志》2017年第12期100-104,共5页Laser Journal

基　　金：江苏省淮安市科技计划项目:(HASZ2013017)

摘　　要：为了提高工业机器人机械臂操控的精度,进行激光距离控制器设计,提出一种基于非线性严格反馈距离误差修正的机械臂激光距离控制律。控制器设计主要包括了控制软件嵌入算法设计和控制器的硬件接口设计等部分。设计非线性严格反馈误差修正控制律提高工业机器人激光距离控制的品质。对机械臂光距离控制器的中央控制器、驱动器模块、距离信息感知模块和执行器接口模块进行集成设计。实现机械臂控制中的激光距离控制器改进优化设计。实验结果表明,采用该控制器进行机械臂的激光距离测量控制,具有较好鲁棒性和误差修正能力,提高了激光距离测量的精度,响应时间较短,保障了机械臂的稳定性运行。In order to improve the precision of industrial robot manipulator, the laser range controller is designed, and a laser distance control law based on the nonlinear strict feedback distance error correction is proposed. The controller design mainly includes the control software embedded algorithm and hardware interface. Design nonlinear strict feedback error correction control law to improve the quality of laser range control of industrial robots. The integrated design of the central controller, the drive module, the distance information sensing module and the actuator interface module of the robot arm is carried out. The improvement and optimization of the laser distance controller in the control of the manipulator are achieved. The experimental results show that this method has good robustness and error correction ability, it improves the accuracy of laser distance measurement, shortens the response time and guarantees the operation stability of mechanical arm.

关 键 词：机械臂 控制 工业机器人 激光 距离测量 

分 类 号：TN209[电子电信—物理电子学]