基于阻抗力下的工业机器人末端位置控制  

End Position Control of Industrial Robot Based on Impedance Force

作　　者：卢建军 LV Jianjun(Luoyang Normal University,College of Physics&Electronic Information,Luoyang 471934,China)

机构地区：[1]洛阳师范学院物理与电子信息学院,河南洛阳471934

出　　处：《电子质量》2023年第2期30-36,共7页Electronics Quality

摘　　要：为了研究关节机器人更好的位置控制系统,将6自由度关节机器人简化为2自由度机械手,研究了基于模型的PD控制方式和传统的只进行误差补偿的PID控制方式对机器人末端节点位置控制精度的影响。在Matlab/Simulink环境中分别建立两种控制模式的仿真平台,研究有阻抗力作用下的机械手末端节点跟踪指令轨迹的能力。通过对比两种控制模式下位置控制仿真结果,发现基于模型的PD控制方式抗干扰能力强,能显著地提高轨迹跟踪精度。To study more appropriate position control systems,the 6-DOF(Degree of Freedom)joint robot is simplified as a 2-DOF manipulator,and the effect of model-based PD control mode and traditional PID control mode with error compensation only on the position control accuracy of robot end node is studied.Based on Matlab/Simulink environment,the simulation platforms of the two control modes are established respectively,and the ability of the manipulator's end node to track the command trajectory under the action of impedance force is studied.By comparing the simulation results of position control under the two control modes,it is found that the model-based PD control mode has strong anti-interference ability and can significantly improve the trajectory tracking accuracy.

关 键 词：工业机器人 位置控制 阻抗力 基于模型的PD控制 PID控制 MATLAB/SIMULINK仿真 抗干扰 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.99[自动化与计算机技术—控制科学与工程]