| 谐波驱动并联机器人的加速度反馈抑振控制 |
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| 引用本文： | 刘延杰,孙立宁,蔡鹤皋,裴润.谐波驱动并联机器人的加速度反馈抑振控制[J].哈尔滨工业大学学报,2004,36(3):281-285. |
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| 作者姓名： | 刘延杰 孙立宁 蔡鹤皋 裴润 |
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| 作者单位： | 1. 哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001
2. 哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划资助项目(2001AA423110). |
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| 摘 要： | 研制出一种结构紧凑、简单实用的平面并联机器人系统，采用谐波传动并且在其输出端位置反馈的驱动与控制形式，提高机器人系统的位置分辨率和定位精度；基于机器人驱动关节加速度反馈控制，抑制因系统高速运动引起的弹性振动，对机器人系统进行了数值仿真与实验研究，与不具备加速度反馈时的情况相比较，证明了该控制策略的可行性和有效性。
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| 关 键 词： | 平面并联机器人 谐波驱动 加速度反馈控制 抑制振动 动力学 |
| 文章编号： | 0367-6234(2004)03-0281-05 |
| 修稿时间： | 2003年3月10日 |
Acceleration feedback control for resisting vibration of new harmonic drive parallel robot |
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| LIU Yan-jie,SUN Li-ning,CAI He-gao,PE?Run.Acceleration feedback control for resisting vibration of new harmonic drive parallel robot[J].Journal of Harbin Institute of Technology,2004,36(3):281-285. |
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| Authors: | LIU Yan-jie SUN Li-ning CAI He-gao PE?Run |
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| Abstract: | A new planar parallel robot system with a compact and simple structure has been developed. Each active joint of the robot is driven by an AC Servo motor with harmonic transmission, and its output angular dis-placement is fed back to the position controller for improving the resolution and the precision of the robot sys-tem. In order to resist system' s elastic vibration caused by high speed motion, a kind of control algorithm based on acceleration feedback of active joints is also proposed. A digital simulation and an experimental study have been conducted on the robot system and the results are presented to confirm the effectiveness and the fea-sibility of the proposed control algorithm, in comparision with those obtained by classical PD control without the acceleration feedback loop. |
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| Keywords: | planar parallel robot harmonic drive acceleration feedback control resist vibration |
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