共查询到20条相似文献,搜索用时 78 毫秒
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针对机械臂在教学实验方面的应用相对欠缺这个问题,介绍了一种实验用多自由度机械臂计算机控制系统。系统由上下位机两级组成,下位机实现关节电机伺服控制、机械臂运行参数自动检测及与上位机的通信。上位机通过视频图像识别技术来规划运动路径,下传命令至下位机,实现自动循迹、工作状态实时显示、指定颜色或形状物体自动抓取等功能。实验结果表明,该系统达到了预期功能。 相似文献
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为妥善解决智能制造机器人系统工作效率低、协作能力差的问题,提出基于一主多从的多手臂自适应协同控制方法。通过分析多臂机器人系统结构明确运动关节、驱动关节及姿态调节装置间的关系,并在惯性坐标系中获取机器人系统线动量和角动量,从而构建雅可比矩阵多手臂运动学方程式。基于此,引入分布式理念简化机器人系统通信链路的冗余性,通过一主多从技术构建多手臂自适应协同控制器,实现其在工业制造中的灵活运用。实验表明:在不同工业制造流程中,应用本文方法后,多臂机器人能够精准完成多条手臂协同抓取工作,证明该方法可以为智能制造的进一步发展提供理论指导。 相似文献
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To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy
prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in
an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses
and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown
parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive
scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted
exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control
algorithm has high adaptability to the unknown environment.
Translated from Journal of Northeastern University (Natural Science), 2005, 26(8): 766–769 [译自: 东北大学学报 (自然科学版)] 相似文献
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Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes. 相似文献
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Byoung-Ho Kim Sang-Rok Oh Il Hong Suh gnByung-Jn Yi 《Journal of Mechanical Science and Technology》2000,14(10):1081-1088
In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method. 相似文献
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Hogan提出的阻抗控制算法由于必须要求机器人准确的动力学方程,在实际工程背景中很难应用.本文针对其弊端,研究了自适应阻抗控制算法.以平面机械手为控制对象,使用以上两种控制方法对其加以控制,从而详细分析比较了两种算法的性能优劣.最后,针对阻抗控制算法在实际运用中阻抗参数的调整原则一直是比较困难的问题,本文通过仿真实验总结了调参规律. 相似文献
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针对固高工业机器人末端主动柔顺控制实现问题,改进并设计了力/位混合控制系统.采用PC+PCI总线采集控制卡的结构,给出了相应的硬件及软件实现方法.实验表明该系统具有良好的稳定性和动态性能. 相似文献
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V. D. Yurkevich 《Optoelectronics, Instrumentation and Data Processing》2016,52(2):196-202
The problem of controller design for nonlinear multi-channel dynamical plants is discussed. Trajectory motion tracking control for a multilink manipulator is treated as an example of the proposed design methodology. A distinctive feature of the discussed approach to calculate controller parameters is that two-time-scale motions are artificially forced in a closed-loop system where stability of the fast mode is provided by selection of the controller parameters while the induced slow mode correspond to the reference model of desired nonlinear plant behavior. Simulation results for a two-link manipulator robot manipulator tracking control system are presented.. 相似文献
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In many applications involving a robot in contact with a surface it is important to control the interaction between the manipulator and its environment, usually by employing force sensors. However, sometimes it is desirable to remove them due to a variety of reasons, e.g. high costs, noisy measurements and a narrow bandwidth. To overcome these drawbacks, in this work it is proposed as a velocity/force observer based on the Generalized Proportional Integral (GPI) technique. Joint velocities and contact forces are estimated with only position measurements and then used in a force/position control scheme. Ultimate boundedness of the observation errors is formally proven and an arbitrarily small ultimate bound is then achieved. Simulation results are used to validate the proposed approach. 相似文献
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The determination of the direct kinematics of a parallel mechanism is a difficult problem but must be solved for practical
application. This paper presents the efficient formulation of the direct kinematics and the Jacobian of a double parallel
robot arm for velocity control. The robot arm consists of two parallel mechanisms, and a central axis that generates positional
and orientational motions independently. Given a set of lengths for the linear actuators, the direct kinematics computes the
position and orientation of the end-effector, and the Jacobian transforms the velocities of the end-effector to those of the
linear actuators. The developed formulation is implemented in a real-time control setting and its efficiency is demonstrated.
Department of Control and Instrumentation Engr. 相似文献
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Error Modeling and Sensitivity Analysis of a Parallel Robot with SCARA(Selective Compliance Assembly Robot Arm) Motions 总被引:1,自引:1,他引:1
Parallel robots with SCARA(selective compliance assembly robot arm) motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration. 相似文献
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电磁力平衡传感器因温度变化引起的示值漂移误差达-40.3 mg∕℃,远不能满足分辨力为0.1 mg及以上的电子分析天平计量性能要求。详细分析了温度对脉冲电流工作模式下电磁力平衡传感器输出误差的影响,根据传感器结构特征及散热方式,设计了一个PT1000高精度温度检测模块,利用等幅正、负脉冲且脉宽可调时动圈发热改变但平衡状态不变的特点,提出一种基于脉宽调制器(PWM)镜像脉冲的电磁力平衡传感器温度控制方法。该方法消除了因不同质量物体加载动圈发热不恒定引起的传感器输出误差,根据外界环境温度引起的传感器温度变化量,同步进地调节镜像脉冲的2个死区时间,实时改变动圈发热功率,维持传感器温度稳定。实验研究表明,采用上述研究方法后,电磁力平衡传感器漂移减小至3.1×10-6 g∕℃,有效降低了天平温度漂移补偿算法的难度。 相似文献