| 单关节机器人伺服系统的建模与仿真 |
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| 引用本文： | 谢芳芳,杨鉴. 单关节机器人伺服系统的建模与仿真[J]. 湖南工业职业技术学院学报, 2021, 21(1): 47-52. DOI: 10.13787/j.cnki.43-1374/z.2021.01.010 |
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| 作者姓名： | 谢芳芳 杨鉴 |
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| 作者单位： | 湖南工业职业技术学院电气工程学院,湖南 长沙,410208;岳阳市污水处理监督中心,湖南 岳阳,410000 |
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| 基金项目： | 湖南工业职业技术学院科研项目“工业机器人电气驱动系统的共模电压抑制技术研究”(项目编号:GYKYZ201705)。 |
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| 摘 要： | 为了深入研究机器人驱动系统,需要进行单关节机器人伺服系统的建模与仿真。首先对单关节机器人的规划轨迹、机械结构、电气结构和控制器分别建立数学模型;然后根据数学模型在MATLAB/Simulink平台上搭建伺服系统的仿真模型;最后对仿真结果做了分析,为机器人系统的优化设计与调试提供了有效模型和依据。
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| 关 键 词： | 单关节机器人 伺服系统 建模与仿真 MATLAB/SIMULINK |
Modeling and Simulation of Single Joint Robot Servo System |
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| XIE Fang-fang,YANG Jian. Modeling and Simulation of Single Joint Robot Servo System[J]. Journal of Hunan Industry Polytechnic, 2021, 21(1): 47-52. DOI: 10.13787/j.cnki.43-1374/z.2021.01.010 |
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| Authors: | XIE Fang-fang YANG Jian |
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| Affiliation: | (College of Electrical Engineering,Hunan Industry Polytechnic,Changsha 410208,Hunan;Yuenyang Sewage Treatment Authority,Yuenyan 410000,Hunan) |
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| Abstract: | In order to deeply study robot drives,it is necessary to model and simulate a single joint robot servo system.Firstly,the mathematical models of the planning trajectory,mechanical structure,electrical structure and controller of the single joint robot are established respectively;then,according to the mathematical model,the simulation model of the servo system is built on the MATLAB/Simulink;finally,the simulation results are analyzed,which provides an effective model and basis for the optimal design and debugging of the robot system. |
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| Keywords: | single joint robot servo system modeling and simulation MATLAB/Simulink |
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