| 超声电机驱动关节机器人位置反馈控制研究 |
| |
| 引用本文： | 孙志峻,邢仁涛,黄卫清.超声电机驱动关节机器人位置反馈控制研究[J].压电与声光,2007,29(3):370-372. |
| |
| 作者姓名： | 孙志峻 邢仁涛 黄卫清 |
| |
| 作者单位： | 南京航空航天大学,机电学院,江苏南京210016 |
| |
| 摘 要： | 利用超声电机低速大转矩特性,实现了三关节机器人的直接驱动;通过改变超声电机的工作频率实现对其运行速度的控制。结合超声电机的运行特点,运用和比较了多种PID位置反馈控制方式,实践证明,在确保超声电机和机器人工作平稳的前提下,采用梯形积分的PID位置反馈控制效果最好。
|
| 关 键 词： | 超声电机 位置反馈 机器人 |
| 文章编号： | 1004-2474（2007）03-0370-03 |
| 修稿时间： | 2006-02-09 |
Study on Position Feedback Control of Joint Robot Driven by Ultrasonic Motors |
| |
| SUN Zhi-jun,XING Ren-tao,HUANG Wei-qing.Study on Position Feedback Control of Joint Robot Driven by Ultrasonic Motors[J].Piezoelectrics & Acoustooptics,2007,29(3):370-372. |
| |
| Authors: | SUN Zhi-jun XING Ren-tao HUANG Wei-qing |
| |
| Abstract: | A three-joint robot has been directly driven by ultrasonic motors with advantage of high torque at low speed.The speed of the ultrasonic motors are actually controlled by regulating their operating frequency.According to the operating characteristics of ultrasonic motors,several PID position feedback control methods have been implemented and compared.Results show that the effect of trapezoidal integral PID on the position feedback control is the best under the premise of ensuring steadily operating performance of ultrasonic motors and robot. |
| |
| Keywords: | ultrasonic motor position feedback robot |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
