谐波驱动并联机器人的加速度反馈抑振控制  

Acceleration feedback control for resisting vibration of new harmonic drive parallel robot

作　　者：刘延杰[1] 孙立宁[1] 蔡鹤皋[1] 裴润[2] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2004年第3期281-285,共5页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2001AA423110)

摘　　要：研制出一种结构紧凑、简单实用的平面并联机器人系统.采用谐波传动并且在其输出端位置反馈的驱动与控制形式,提高机器人系统的位置分辨率和定位精度;基于机器人驱动关节加速度反馈控制,抑制因系统高速运动引起的弹性振动.对机器人系统进行了数值仿真与实验研究,与不具备加速度反馈时的情况相比较,证明了该控制策略的可行性和有效性.A planar parallel robot system with a compact and simple structure has been developed. Each active joint of the robot is driven by an AC servo motor with harmonic transmission, and its output angular displacement is fed back to the position controller for improving the resolution and the precision of the robot system. In order to resist system's elastic vibration caused by high speed motion, a kind of control algorithm based on acceleration feedback of active joints is proposed. A digital simulation and an experimental study have been conducted on the robot system and the results are presented to confirm the effectiveness and the feasibility of the proposed control algorithm, compared with those obtained by classical proportional differential (PD) control without the acceleration feedback loop.

关 键 词：平面并联机器人 谐波驱动 加速度反馈控制 抑制振动 动力学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]