SIA OpenIR  > 沈阳自动化所知识产出(2000年前)
基于加速度传感器的机器人极点配置控制
Alternative TitlePole Placement Control of Robot Based-On Acceleration Sensor
刘德满; 刘宗富; 吴成东; 尹朝万
Department中国科学院沈阳自动化研究所
Source Publication控制理论与应用
ISSN1000-8152
1994
Volume11Issue:1Pages:51-57
Indexed ByEI ; CSCD
EI Accession number1994091403179
CSCD IDCSCD:243519
Contribution Rank1
Funding Organization中国科学院机器人学开放研究实验室资助
Keyword机器人 加速度器 线性化 极点配置 积分作用 仿真实验
Abstract

本文为工业机器人提出了一种极点配置控制法.这种控制方法的优点有:一是它的积分作用消除了机器人的微小扰动和稳态误差;二是能任意设置系统的极点,因此能保证闭环系统的稳定性和规定状态变量的暂态响应;三是加入了加速度反馈,抑制了由电枢电感所引起的机械手的振动.最后,给出了PUMA562机器人的计算机仿真和实验结果验证了此控制法的有效性。

Other Abstract

This paper proposed a pole placement control method for industrial robot. This control method has following adcantages: First, its integral effect eliminates minor disturbances and steady errors; Second, the poles of the elosed-loop system can be placed arbitrarily, therefore, it can guarantee stability of the closed-loop system and specify the transient response of state variables; Third, the acceleration feedback is added to suppress the vi bration of robotic manipulator caused by inductance of armature circuit. Finally, the computer simulation and ex periment results for PUMA562 are given to demonstrate the effectiveness of proposed control method.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/1626
Collection沈阳自动化所知识产出(2000年前)
Corresponding Author刘德满
Affiliation1.东北大学自动控制系
2.沈阳建筑工程学院自动控制系
3.沈阳自动化研究所四室
Recommended Citation
GB/T 7714
刘德满,刘宗富,吴成东,等. 基于加速度传感器的机器人极点配置控制[J]. 控制理论与应用,1994,11(1):51-57.
APA 刘德满,刘宗富,吴成东,&尹朝万.(1994).基于加速度传感器的机器人极点配置控制.控制理论与应用,11(1),51-57.
MLA 刘德满,et al."基于加速度传感器的机器人极点配置控制".控制理论与应用 11.1(1994):51-57.
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