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FROG-LEG型真空机械手的动力学控制研究
Alternative TitleStudy of FROG-LEG Vacuum Manipulators' Dynamics Control
黄玉钏; 曲道奎; 徐方
Department其他
Source Publication四川大学学报(工程科学版)
ISSN1009-3087
2013
Volume45Issue:3Pages:158-163
Indexed ByEI ; CSCD
EI Accession number20132516429521
CSCD IDCSCD:4845107
Contribution Rank1
Funding Organization国家科技重大专项资助项目(2009ZX02012)
Keyword真空机械手 动力学 拉格朗日方程 转子磁链定向 动力学仿真
Abstract为了解决FROG-LEG型真空机械手平稳运行的控制问题,首先根据机械手的结构特点,将该类机械手动力学分为水平和垂直2个方向进行讨论,利用拉格朗日动力学方程建立了2个方向的动力学模型;其次在真空机械手的动力学模型上分析了真空机械手动力源的控制模型——永磁同步电机转子磁链定向的控制模型;最后利用MATLAB的robot工具箱对机械手的运动学进行了仿真,并利用simulink工具箱对真空机械手的动力学补偿进行了仿真实验。仿真结果说明了动力学电流前馈补偿是实现机械手平稳控制的一种有效途径。
Other AbstractIn order to solve the problem of FROGLEG vacuum manipulators' dynamic compensation, based on its stnicture, the dynam ics in the level and upright direction was discussed, respectively, by using NewEuler method to give dynamics equations. Rotor flux o riented of PMSM was ana/yzed, which was the dynamic source of vacuum manipulators. Robot tool of MATLAB was utilized to simulate the kinematics and dynamics of vacuum manipulators, proving that dynamic current feed forward compensation is an effective way to re alize vacuum manioulators‘ smooth control.
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/12443
Collection其他
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
3.沈阳新松机器人自动化股份有限公司
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黄玉钏,曲道奎,徐方. FROG-LEG型真空机械手的动力学控制研究[J]. 四川大学学报(工程科学版),2013,45(3):158-163.
APA 黄玉钏,曲道奎,&徐方.(2013).FROG-LEG型真空机械手的动力学控制研究.四川大学学报(工程科学版),45(3),158-163.
MLA 黄玉钏,et al."FROG-LEG型真空机械手的动力学控制研究".四川大学学报(工程科学版) 45.3(2013):158-163.
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