基于加速度传感器的机器人极点配置控制

Pole Placement Control of Robot Based-On Acceleration Sensor

中文关键词  机器人  加速度  线性化  极点配置  积分控制  积分作用  仿真实验

英文关键词  Robot  accelerometer  linearization  pole placement  integral effect  simulation and exoeriment

中文摘要

      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。

英文摘要

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