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为磨平钢坯细微缝隙的修磨机器人(SGR)提出了一种PID控制法。这种控制法利用前馈力矩作为总体补偿和一个反馈力矩校正轨线跟踪误差,其优点在于它的积分作用消除了机器人的稳态跟踪误差。最后,给出了SGR机器人的计算机仿真结果,验证了此控制法的有效性。
A PID control method is proposed for a grinding robot (SGR) that smoothes a slight gap in a slab. This control method uses the feedforward torque as the overall compensation and a feedback torque correction trajectory tracking error, the advantage of which is that its integral action eliminates the robot’s steady-state tracking error. Finally, the computer simulation results of the SGR robot are given to verify the effectiveness of this control method.