机器人位置稳定时间和超调量的算法研究  

Algorithm Research of Robot Position Stability Time and Overshoot

作　　者：胡伟健 吴清锋 王海霞 崔朝宇 王清忠 HU Weijian;WU Qingfeng;WANG Haixia;CUI Zhaoyu;WANG Qingzhong(Guangdong Testing Institute of Product Quality Supervision,Foshan Guangdong 528300,China;Key Laboratory of Safety of Intelligent Robots for State Market Regulation,Foshan Guangdong 528300,China;China National Quality Testing and Inspection Center for Industrial Robot(Guangdong),Foshan Guangdong 528300,China)

机构地区：[1]广东产品质量监督检验研究院,广东佛山528300 [2]国家市场监管重点实验室(智能机器人安全),广东佛山528300 [3]国家工业机器人质量检测检验中心(广东),广东佛山528300

出　　处：《机床与液压》2023年第15期95-99,共5页Machine Tool & Hydraulics

基　　金：广东省市场监督管理局2019年度科研项目资助计划(2019ZZ01)。

摘　　要：根据国标要求对位置稳定时间和位置超调量进行测试,按照标准中的定义对其算法进行研究,为后续开发性能测评软件提供算法支持。实到位置的确定标准并未详细给出,其取值的不同会对结果造成一定的影响,门限带的取值不同对结果的影响最明显,门限带越大,位置稳定时间越小,但对位置超调量的影响并不明显。门限带的取值大于位置超调量时,就会出现过阻尼状态,机器人在空载低速(50%和10%额定速度)和100%负载10%速度条件下运行时比较容易出现过阻尼状态。The position stability time and position overshoot were tested according to the requirements of the national standard,and its algorithm was studied according to the definition in the standard,so as to provide algorithm support for the subsequent development of performance evaluation software.The standard for determining the actual position is not given in detail,and different values will have a certain impact on the results.Different values of the threshold band have the most obvious impact on the results,the larger the threshold band is,the smaller the position stability time is,but the impact on the position overshoot is not significant.When the value of the threshold band is greater than the position overshoot,there will be an over damping state.The robot is prone to over damping when running at no-load low speed(50%and 10%rated speed)and 100%load 10%speed.

关 键 词：位置稳定时间 位置超调量 门限带 过阻尼 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]