基于加速度传感器反馈控制的谐波驱动系统的研究

在机器人驱动中经常采用谐波传动。但谐波减速器的柔性、非线性摩擦、随速度波动、低阻尼等因素会给负载端带来振动 ,导致工作端的轨迹跟踪精度不高。为了抑制其振动 ,实现高精度轨迹跟踪控制 ,提出利用加速度传感器反馈控制来抑制负载端的振动、力矩干扰和动力学效应 ,提高其响应性能。理论分析和实验结果证实了提出方法的可行性。

Harmonic drive is a type of gear mechanism that is very popular for driving in robots.However,harmonic drive systems suffer from load vibration for high flexibility,nonlinear friction,speed variation and structural damping.To suppress the load vibration inharmonic drive system and enhance the trajectory tracking accuracy,a kind of feed back control method of acceleration sensor is presented here.It can resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth,improve the joint tracking performance,and resist the load vibration in the harmonic drive system.The test results show that this method is applicable.

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