基于工业PC的取料机械手控制系统

根据四自由度取料机械手的结构和工作要求,开发了一种基于工业PC的取料机械手控制系统。介绍了系统的总体方案和的硬件构成,并给出了控制系统的软件设计方案。结果表明,机械手能快速准确的完成从仓储位置取料任务。     

异步伺服驱动的直角坐标机械手控制系统设计与实现

本文介绍了一种工业取料机械手的控制策略及系统结构。系统采用集散控制策略，以工业控制计算机为上位机，专用交流异步电机伺服控制器为下位机，系统软件采用C 语言设计。系统结构紧凑，易于用户操作，具有较好的市场前景。     

机械手对目标物体抓取的研究

机械手在工业控制自动化中有着广泛的应用,介绍了一种主要由视觉和力觉传感器、电机及单片机和PC构成的四自由度机械手系统。主要讨论了该控制系统图象分析过程,系统硬件的结构和抓取控制的原理,并给出了上位机与下位机的串口通讯。试验结果表明该系统能够完成对形状为立方体的目标物体的抓取。     

电机驱动机械人手臂的鲁棒自适应控制

针对电机驱动机械手的工作环境复杂负载变动大难控制的问题,提出一种机械手的鲁棒自适应控制方法。通过代数运算将机器人手臂模型变换为线性误差系统加未知干扰的形式．设计误差系统的积分滤波器,通过合理地选择滤波器参数,可使滤波器输出渐近收敛到零。同时由滤波器可得到理想电流和干扰的更新估计。以理想电流为目标设计电机的控制律.基于Lyapunov稳定理论分析了该方法的稳定性,给出了稳定性充分条件。实例仿真结果表明该方法有效。     

电机驱动机械人手臂的鲁棒自适应控制

针对电机驱动机械手的工作环境复杂负栽变动大难控制的问题,提出一种机械手的鲁棒自适应控制方法.通过代数运算将机器人手臂模型变换为线性误差系统加未知干扰的形式.设计误差系统的积分滤波器,通过合理地选择滤波器参数,可使滤波器输出渐近收敛到零.同时由滤波器可得到理想电流和干扰的更新估计.以理想电流为目标设计电机的控制律.基于Lyapunov稳定理论分析了该方法的稳定性,给出了稳定性充分条件.实例仿真结果表明该方法有效.     

机器人操作器力控制稳定性分析

当机械手同刚性环境接触时，机械手力控制难于保持系统的稳定性，这就是机械手力控制动态不稳定性，本文分析了机械手力控制未建模特性：１）机械手驱动电机动态特性；２）力传感器动态特性；３）接触环境的动态特性；４）机械手力控制采样控制延迟等对机械手力控制稳定性的影响，最后给出了仿真及实验研究结果。     

基于机器视觉的机械手装配系统设计

为了解决工业生产过程中料板的自动装配问题,提出了一种基于机器视觉的机械手定位装配检测系统,建立了实验平台。系统通过工业相机对料盘进行图像采集,将所采集的信息传送给工控机,借助图像处理程序,采用图像预处理实现了对图像的降噪,结合BLOB分析对图像特征进行了提取,获得了料盘上装配孔的位置信息,通过控制机械手动作,移动到装配位置,旋转相应角度,实现料板的自动定位装配。实验结果表明,该系统装配准确度高,误差小,满足了工业上的要求。     

工业取料机械手二次示教控制方法研究及应用

本文介绍了一种工业取料机械手的控制系统结构及控制策略,以及依据这种控制策略实现的上下位机之间的二次示教机制,这种控制策略提高了上下位机之间通讯的实时性,避免了目通讯干扰而可能给系统带来的种种故障,大大提高了系统的可靠性。     

基于VC++的并联机械手轨迹规划及算法

介绍了新型3p6ss并联机械手轨迹的规划和算法.该项目以vc 为基础,利用OpenGL进行实体仿真建模后,优化仿 真软件,研究可交互性轨迹算法,用c语言编程,实现轨迹的可操控性,可选择性.利用mathmatica计算实体机械手轨迹及相 应驱动电机转数.文章同时给出了仿真结果.     

一种柔性冲压自动化生产线系统的研制

本文介绍了一种用于大型汽车覆盖件冲压生产的柔性自动化生产线，系统由６台压机、１２台上下料机械手、１台翻转传输装置、４台穿梭传输装置及１台磁力分层装置构成．给出了生产线的主要性能指标、机械手结构简图及单元控制系统框图，简要介绍了系统的工作原理．     

Design and Control of a Hydraulic Simulator for a Flexible-Joint Robot

For the first time, a novel experimental hydraulic system that simulates joint flexibility of a single-rigid-link flexible-joint robot manipulator, with the ability of changing the joint flexibility's parameters, was designed and implemented in this study. Such a system could facilitate future control studies of robot manipulators by reducing investigation time and implementation cost of research. It could also be used to test the performance of different strategies to control the movement of flexible-joint manipulators. A hydraulic rotary servo motor was used to simulate the action of a flexible-joint robot manipulator, which was a challenging task, since the control of angular acceleration was required. In this study, a single-rigid-link elastic-joint robot manipulator was mathematically modeled and implemented in which joint flexibility parameters such as stiffness and damping could be easily changed. This simulation is referred to as a 'function generator' to drive a hydraulic robot manipulator. In this study the desired angular acceleration of the manipulator was used as the input to the hydraulic rotary motor and the objective was to make the hydraulic system follow the desired acceleration in the frequency range specified. A hydraulic actuator robot was built and tested. The results indicated that if the input signal had a frequency in the range of 5–15 Hz and damping ratio of 0.1 (typical values for flexible joints), the experimental setup was able to reproduce the input signal with acceptable accuracy. Owing to the inherent noise associated with the measurement of acceleration and some severe nonlinearities in the rotary motor, control of the experimental test system using classical methods was a challenging task that had not been anticipated.     

Adaptive control of flexible link manipulators using a pseudolink dynamic model

This paper presents a novel adaptive control scheme for a lightweight manipulator arm governed by electric motors. The controller design is based on the dynamic model of the arm in a quasi-static approximation which consists of the transports subsystem and the motor equations corrected for the elastic compliance of the plant. A passivity property of the flexible electromechanical system is established and an adaptive motor controller is developed which contains the rigid manipulator controller as a part. The motor controller updates all unknown rigid manipulator parameters as well as elastic parameters and ensures global asymptotic stability of the tracking errors with all signals in the system remaining bounded. Projecting of parameter estimates is used in the update law to avoid possible singularities when generating control input. Simulation results for a single-link elastic arm confirm the validity and demonstrate advantages of the proposed method.     

基于JAVA技术平台的气动轻量机械臂伺服控制系统设计

针对气动轻量机械臂无法应对外界环境的变化,导致机械臂控制稳定性和效果较差的问题,设计了基于JAVA技术平台的气动轻量机械臂伺服控制系统;系统硬件主要设计了电机模型、关节双闭环控制器、速度环、位置环;确定直流电机等效电路,分析电机常数,调整机械臂灵敏度,确保电机正常运行;设置关节双闭环控制器,通过PCI1711数据传输器传输数据,速度环以PI控制为基础;调节带宽比例项,采用微分控制法增加系统阻尼,消除局部静差,在位置环外环上串联一个适当比例的校正环节,以抵消系统主回路中的局部静差;设计数据采集器,在单片机内部加入了MAX785芯片,利用RS-485通讯接口,实现信息转换和读取;将STCl2C5A60S2单片机作为控制核心,利用RS232串行通信进行通信连接,保证数据处理器内部和外部通信的质量;通过数据处理器、微控制器和串行通信模块,设计数据处理单元,保证数据处理精度;系统软件利用JAVA技术,提供了可扩展性平台,有效适应外界环境变化,反馈控制方法,实现补偿控制,建立机械臂模型控制机械臂运动;根据采集的图像,提取目标物体的显著性特征,并在数据库中进行特征匹配,从而实现高精度的目标物体识别;...     

Visual motor control of a 7 DOF robot manipulator using a fuzzy SOM network

A fuzzy self-organizing map (SOM) network is proposed in this paper for visual motor control of a 7 degrees of freedom (DOF) robot manipulator. The inverse kinematic map from the image plane to joint angle space of a redundant manipulator is highly nonlinear and ill-posed in the sense that a typical end-effector position is associated with several joint angle vectors. In the proposed approach, the robot workspace in image plane is discretized into a number of fuzzy regions whose center locations and fuzzy membership values are determined using a Fuzzy C-Mean (FCM) clustering algorithm. SOM network then learns the inverse kinematics by on-line by associating a local linear map for each cluster. A novel learning algorithm has been proposed to make the robot manipulator to reach a target position. Any arbitrary level of accuracy can be achieved with a number of fine movements of the manipulator tip. These fine movements depend on the error between the target position and the current manipulator position. In particular, the fuzzy model is found to be better as compared to Kohonen self-organizing map (KSOM) based learning scheme proposed for visual motor control. Like existing KSOM learning schemes, the proposed scheme leads to a unique inverse kinematic solution even for a redundant manipulator. The proposed algorithms have been successfully implemented in real-time on a 7 DOF PowerCube robot manipulator, and results are found to concur with the theoretical findings.     

并联机械手控制系统设计

随着工业自动化水平的提高,工业上对机械手的需求量越来越大。应用欧姆龙NJ系列运动控制器设计两轴并联机械手控制系统。系统由NJ运动控制器、触摸屏、伺服驱动器、伺服电机等硬件组成,NJ控制器通过EtherCAT网络通信进行运动控制,实现了两轴并联机械手的协调动作,达到特定运动轨迹。该控制系统具有响应速度快、定位准确、稳定性强、误差小、调速方便等特点。NJ控制器在运动控制方面表现出极高的优越性。     

门架式机械手在低压电流互感器自动检定系统中的应用

介绍了一种已在低压电流互感器自动检定系统中成功应用的门架式机械手。该机械手采用PL C作为控制系统,利用伺服电机控制器和气动电磁阀分别控制机械手运动电缸和重载型平行气爪,实现了机械手直角坐标运动、腕部电缸旋转和气爪的张开和闭合,能够完成互感器抓取和搬运的动作。现场应用证明其可靠性高,运行平稳精准,能够满足低压电流互感器自动检定系统的使用要求。     

单自由度力觉临场感比率遥操作实验系统研制

介绍了单自由度主从式力觉临场感比率遥操作实验系统的设计和低成本实现方法。由操作者操纵的主手装有直流力矩电机，与环境作用的小尺度从手选用可细分控制的步进电机驱动。采用一种2通道位置-力控制结构，进行了有时延和无时延的力觉临场感比率遥操作实验。实验结果表明了该系统的有效性。     

Time-optimal control of robotic manipulators with limit heat characteristics of the actuator

In this paper, we present a time-optimal control scheme for a robot manipulator to track a predefined geometric path, subject to constraints due to the limit heat characteristics of the actuator (the DC motor was assumed to be the actuator used). Constraints due to the rated torque bounds and the rated velocity bounds of the motor would not be valid for continuous use of the manipulator, since the required mechanical output of the actuator (DC motor) exceeds its maximum power capacity and greatly exceeds its heat-converted power limit. The heat-converted power of the DC motor is thus considered as the actuation bound and the time-optimal trajectories are generated subject to this bound. Computer simulation was also executed to demonstrate the effectiveness of the proposed scheme in comparison to former schemes that used the rated torque and the rated velocity.     

A kinetostatic index to measure the task-executing ability of robotic manipulators with limit-driven characteristics of actuators

Dexterity is an important issue for the design, trajectory planning and control of robotic manipulators. However, even though a lot of robot manipulators are driven by DC motors, no dexterity measures were introduced to evaluate how efficient a manipulator system is for performing a required task in the case of taking the limit-driven characteristics of the DC motor into consideration. In this study, we introduce a new kinetostatic dexterity index to measure the task-executing ability of robotic manipulators where the possible maximum velocity and force of the required task are derived subject to the heat-converted power limit of the DC motor. The measure is to evaluate how efficient a manipulator system is to execute a required task, while the limit-driven characteristics of its actuators are taken into consideration. Two examples are used to show that the proposed dexterity index is task-dependent and changed due to the tasks.     

动力锂电池组搬运机械手的设计与研究

针对动力锂电池组生产线中需将装配完的电池组搬运到指定地点的要求,开发研制了一种搬运机械手。主要介绍了该机械手移动机构和抓取机构两大部分的结构组成,然后通过动力学计算对驱动电机进行选型。最后,从机械手系统的精确移动定位考虑提出了一种闭环控制系统。实验表明该机械手系统运行稳定可靠,已经应用于生产线的转运工位中。