双臂机器人动力学建模与伺服系统控制  

Dynamic Modeling and Servo System Control of Dual-Arm

作　　者：刘江文[1] 徐敏[2] LIU Jiang-wen;XU Min(Jiangsu Vocational Institute of Architectural Technology School of Mechanical and Electrical Engineering,Jiangsu Xuzhou221116,China;Nanjing University of Aeronautics and Astronautics Key Laboratory of Mechanical Structure Mechanics and Control,Jiangsu Nanjing211106,China)

机构地区：[1]江苏建筑职业技术学院机电工程学院,江苏徐州221116 [2]南京航空航天大学机械结构力学及控制国家重点实验室,江苏南京211106

出　　处：《机械设计与制造》2019年第11期256-260,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(51105196);江苏省住房和城乡建设厅科技项目(2015ZD04)

摘　　要：针对双臂机器人的手臂运动控制问题,研究了其动力学建模与伺服系统控制算法。首先,对其双臂机械结构进行了分析,总结了各个关节对机器人末端位姿的影响,并且简化了动力学方程更利于实现。其次针对简化后的模型参数采用最小二乘法辨识,最后通过仿真和系统实验,验证动力学计算结果的正确性。再次由机器人动力学和电机动力学建立关节转矩模型进行关节转矩力控制;最后讨论了交流永磁同步电机的建模和控制问题。经过验证简化后的模型一方面等效于直流电机便于设计控制器,另一方面可用于机器人关节转矩控制。Aiming at the problem of arm motion control of arms,this paper studies its dynamic modeling and servo system control algorithm.Firstly,the mechanical structure of the two arms is analyzed,and the influence of each joint on the end position of the robot is summarized.The simplified kinetic equation is more convenient to realize and accelerate the calculation speed.Secondly,the least squares method is used to identify the simplified model parameters.Finally,the correctness of the dynamic calculation results is verified by simulation and system experiment.The joint torque model is established by the robot dynamics and the motor dynamics.Finally,the modeling and control of the AC permanent magnet synchronous motor are discussed.The simplified model is equivalent to the DC motor to facilitate the design of the controller,on the other hand can be used for robot joint torque control.

关 键 词：双臂机器人 动力学 伺服系统 电机控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]