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本文对多关节型工业机器人的连续轨迹控制问题作了一些新的探讨,提出了满足机器人运动平稳性要求的控制算法,分析了控制算法误差和关节运动误差对机器人手部轨迹的影响,并在此基础上提出了关节运动误差的最优分配方法及对关节控制函数进行优化处理的新方法。以上的理论与算法均以“6R”机器人为例,在MC68000微型计算机上进行了模拟计算,结果表明,本文提出的算法具有控制精度高、易编程及运算快等优点。
This paper makes some new discussions on continuous trajectory control of multi-joint industrial robots, and proposes a control algorithm that satisfies the requirements of robot’s motion smoothness. The influence of control algorithm error and joint motion error on trajectory of robot’s hand is analyzed. Based on this, the optimal distribution method of joint motion error and the new method of optimizing the joint control function are proposed. The above theories and algorithms are based on the “6R” robot as an example, and the simulation is carried out on the MC68000 microcomputer. The results show that the proposed algorithm has the advantages of high control precision, easy programming and fast operation.