直接驱动机器人关节加速度反馈解耦控制

以利用线加速度传感器实际测量转动关节的加速度为基础 ,分析了机器人关节加速度反馈控制的开环模型 ,以及影响其闭环稳定性的主要因素 ;提出了闭环控制策略的设计准则 .在一台三自由度直接驱动机器人上的实验结果证明了该文分析的正确性 ,与不具备加速度反馈控制时的实验结果相比较 ,显示出这种方法的有效性

The link  couplings of a multi  DOF DD  robot always act as a kind of torque disturbances.Joint acceleration feedback control based on sensed acceleration information will help to resist such coupling effects and improve the joint tracking performance.In this paper,linear accelerometer is used to sense the rotatory joint acceleration and a model is given to describe the sensed open loop resonance,and design criteria for stable and functional control law are also proposed.Extensive experiments are conducted on a threelink DD  robot and the results are presented to validate the analyses and demonstrate the improvements benefited from the proposed method.

“八六三”计划智能机器人主题资助项目