基于加速度传感器的机器人极点配置控制

本文为工业机器人提出了一种极点配置控制法．这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动．最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。

This paper proposed a pole placement control method for industrial robot. This control method has following adcantages: First, its integral effect eliminates minor disturbances and steady errors; Second, the poles of the elosed-loop system can be placed arbitrarily, therefore, it can guarantee stability of the closed-loop system and specify the transient response of state variables; Third, the acceleration feedback is added to suppress the vi bration of robotic manipulator caused by inductance of armature circuit. Finally, the computer simulation and ex periment results for PUMA562 are given to demonstrate the effectiveness of proposed control method.

中国科学院机器人学开放研究实验室资助