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为了克服重力因素对机械臂控制的影响,提高机械臂的轨迹跟踪性能,在传统固定重力补偿的基础上,结合机器人空间几何特性和扭矩平衡原理推导出各关节的重力补偿函数,针对除冰机器人右臂提出了一种精确的在线重力补偿PD控制策略.实验结果表明,相对于以往一些研究成果和未进行重力补偿的机械臂系统,该策略具有更好的控制性能,同时,对连续信号也具有更好的轨迹跟踪性能.
In order to overcome the influence of gravity on the manipulator control and improve the tracking performance of the manipulator, based on the traditional fixed gravity compensation, the gravity compensation function of each joint is deduced based on the geometric characteristics of the robot and the torque balance principle. The right arm proposed a precise on-line gravity compensation PD control strategy.The experimental results show that this strategy has better control performance compared with some previous research results and the gravity compensation system, at the same time, the continuous signal Has better trajectory tracking performance.