| 液压挖掘机器人多关节协调控制研究 |
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| 引用本文： | 冯培恩,邵力平,高宇,潘双夏. 液压挖掘机器人多关节协调控制研究[J]. 中国工程机械学报, 2006, 4(3): 253-258 |
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| 作者姓名： | 冯培恩 邵力平 高宇 潘双夏 |
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| 作者单位： | 浙江大学流体传动及控制国家重点实验室,浙江,杭州,310027 |
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| 基金项目： | 国家高技术研究发展计划(863计划);国家自然科学基金 |
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| 摘 要： | 针对挖掘机器人位置伺服控制中,各关节伺服控制子系统相互独立,关节间速度无法匹配引起的轨迹轮廓误差问题,提出了一种基于交叉耦合路径预补偿算法的挖掘机器人多关节协调控制方法.以一台小型液压挖掘机为实验对象,实验结果表明该方法可以有效地提高斗齿尖轨迹的跟踪精度.
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| 关 键 词： | 挖掘机器人 协调控制 交叉耦合 路径预补偿 |
Multiple-joints coordination-control for hydraulic robotic excavators |
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| FENG Pei-en,SHAO Li-ping,GAO Yu,PAN Shuang-xia. Multiple-joints coordination-control for hydraulic robotic excavators[J]. Chinese Journal of Construction Machinery, 2006, 4(3): 253-258 |
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| Authors: | FENG Pei-en SHAO Li-ping GAO Yu PAN Shuang-xia |
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| Abstract: | Due to independence of servo control sub-systems, as well as speed non-matching amongst roboticjoints, in a hydraulic robotic excavator, a track contour error occurs during position control process. In this regard, a cros-couple-based coordination control method is proposed for path pre-compensation. Based on experimental reults, it is indicated that the tracking precision of buckets has been significantly improved. |
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| Keywords: | robotic excavator coordination control cross couple path pre-compensation |
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