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超声电机驱动多关节机器人位置精确控制

孙志峻1，邢仁涛1，赵淳生2，黄卫清2   

  1. 1．南京航天航空大学 机电学院, 江苏 南京 210016；

    2．南京航天航空大学 精密驱动研究所， 江苏 南京 210016

  • 收稿日期:2007-03-30 修回日期:2007-06-12 出版日期:2007-09-30 发布日期:2007-09-30

Accurate Position Control of Multiple Joint Robot Driven by Ultrasonic Motors

SUN Zhi-jun1, XING Ren-tao1, ZHAO Chun-sheng2 ,HUANG Wei-qing2   

  1. 1 College of Mechanical and Electrical Engineering，Nanjing University of Aeronautics & Astronautics, Nanjing 210016，China；

    2 Precision Driving Laboratory, Nanjing University of Aeronautics & Astronautics, Nanjing 210016，China

  • Received:2007-03-30 Revised:2007-06-12 Online:2007-09-30 Published:2007-09-30

被引次数

18

摘要： 该文结合超声电机的运行特点，提出了一种新颖的速度——位置联合反馈控制方式，并在直接驱动的三关节机器人上加以实现。实践证明，位置反馈控制可以获得较高的位置精度，但超声电机的速度变化会显得剧烈，从而导致机器人发生颤振；速度反馈控制可以保证机器人运行平稳，但不能获得好的位置精度。采用所提出的控制方式后，不仅可以获得高的位置精度，而且可以保证机器人平稳运行。

关键词: 超声电机, 反馈控制, PID, 关节机器人

Abstract: In this paper, according to the operating characteristics of ultrasonic motors, a new velocity-position feedback control strategy is proposed and implemented in a three-joint robot directly driven by ultrasonic motors.Results show that, the robot can achieve high positional resolution under position feedback control; however the robot will quiver due to the quick change of the speed of ultrasonic motors. The robot can operate smoothly under velocity feedback control; however the positional resolution is worse. The proposed control strategy can achieve the best performance of the robot, i.e. higher position accuracy and smooth operation.

Key words: ultrasonic motor, feedback control, PID, joint robot