摘要
为实现工业机器人的高速高精度控制,提出了一种基于PC+DSP的实时智能控制系统结构。该结构考虑了机器人的动力学模型,将参数辨识与控制方法相结合,并建立专家知识库,使其能根据用户或性能要求,自动选择最佳的基于动力学模型的控制方案,以获得满意的控制精度。并且给出了机器人控制系统的软硬件架构,采用高速DSP实时进行参数辨识和控制算法的计算。最后通过对二自由度机器人的实验,说明了该系统的智能结构是有效的、可行的,并且能获得较高的控制精度。
The real-time intelligent system architecture based on PC＋DSP is propased for the advanced high-speed and high-precision control technology of industrial robot. The robot dynamic model is considered, parameter identification and control method are combined, and the expert knowledge base is established so as to automatically select the optimal model- based control scheme according to the user or pelformance requirements, which is to obtain satisfactory control accuracy. Moreover, the hardware and software architectures of robot control system are presented, and the high-speed DSP /s employed to identify the dynamic parameters and calculate the control inputs in real time. Experiments on a 2-DOF robotic manipulator demonstrate that the proposed system architecture is effective and feasible, and the higher control precision is obtained.
出处
《机械设计与制造》
北大核心
2014年第1期161-163,167,共4页
Machinery Design & Manufacture
基金
863重点项目(2009AA043901-3)
广东省科技计划项目(2011B090400150)
湛江市科技计划项目(2012A0103)
关键词
工业机器人
系统结构
动力学模型
控制
Industrial Robot
System Architecture
Dynamic Model
Control
