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机器人具有时变、非线性和耦合的、受外部载荷严重影响的动力学特性。使用传统的控制方法很难满足其高精度大活动范围的要求。本文应用极点配置自校正控制方法进行机器人控制器的设计,并将该控制器应用于一台Move Master Ⅱ型机器人,通过一台Z80单板机来实现,进行了轨迹跟踪实验。实验结果证明:该控制器具有不要求机器人精确的数学模型,可用廉价的微处理器实现;并易于实现机器人的无超调控制和重力补偿。
Robots have time-varying, nonlinear and coupled dynamics that are severely affected by external loads. The use of traditional control methods is difficult to meet the requirements of its high-precision large range of activities. In this paper, we design the robot controller by using the pole placement self-tuning control method. The controller is applied to a Move Master II robot, which is implemented by a Z80 single-board computer. The trajectory tracking experiment is carried out. The experimental results show that the controller has the mathematical model which does not require the accurate robot and can be realized by the cheap microprocessor. And it is easy to realize robot without overshoot control and gravity compensation.