文献扫描机器人多关节机械臂滑膜控制系统设计  

Design of Synovial Control System for Document Scanning Robot Multi-joint Manipulator

作　　者：葛婧[1] Ge Jing(Hubei University Library,HuBei Wuhan430062, China)

机构地区：[1]湖北大学图书馆,武汉430062

出　　处：《计算机测量与控制》2019年第3期112-116,共5页Computer Measurement &Control

摘　　要：为提升机器人机械臂关节的传动性能,使其处于良好的反步自适应工作环境,设计文献扫描机器人多关节机械臂滑膜控制系统;利用关键控制电路,实现机械臂全局PID滑膜控制器与机器人多关节滑膜控制器间的定向连接,完成新型控制系统的硬件运行环境搭建;通过机器人控制传感器标定操作,建立等效控制及动态滑膜方程,并利用上述计算结果界定机械臂滑膜的动态品质,实现新型控制系统的软件运行环境搭建,结合软、硬件运行单元,完成文献扫描机器人多关节机械臂滑膜控制系统设计;模拟文献扫描机器人多关节机械臂运行状态,设计对比实验结果表明,与传统系统相比应用新型滑膜控制系统后,机械臂关节的传动能力得到有效提升,反步自适应参数最大值可达到1.70。In order to improve the transmission performance of the joint of the robot manipulator and make it in a good backstepping adaptive working environment, the synovial membrane control system of the multi-joint manipulator of the literature scanning robot is designed. By using the key control circuit, the directional connection between the global PID synovial controller of the manipulator and the multi-joint synovial controller of the robot is realized, and the hardware operation environment of the new control system is built. The equivalent control and dynamic synovial equation are established through the calibration operation of the sensor controlled by the robot, and the dynamic quality of the mechanical arm's synovial membrane is defined by the above calculation results. The software operating environment of the new control system is built. The design of the multi-joint mechanical arm synovial membrane control system of the literature scanning robot is completed by combining the software and hardware operating units. By simulating the running state of the multi-joint manipulator of literature scanning robot, the design and comparison experiment results show that the transmission ability of the joint of the manipulator can be effectively improved, and the maximum value of the back-stepping adaptive parameters can reach 1.70 when the new synovial control system is applied compared with the traditional system.

关 键 词：扫描机器人 机械臂滑膜 控制系统 PID控制器 控制传感器 滑膜方程 动态品质 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]