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搬运机器人的多自由度特殊结构使其对系统集总控制技术提出了较高要求。本文设计了基于PROFIBUS现场总线的搬运机器人伺服控制系统。介绍了系统的基本组成、工作原理及通讯协议。所设计的搬运机器人具有响应速度快、定位准确、高集成度、高可靠性等优点。 相似文献
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七自由度冗余机械臂避障控制 总被引:3,自引:0,他引:3
基于冗余机械臂零空间的自运动特性,提出了一种新的七自由度冗余机械臂避障控制方法.该方法引入臂平面和避障面来参数化表达冗余机械臂的零空间运动;基于这种描述,利用人工势场法实现碰撞检测;根据检测结果得出的虚拟排斥力推导零空间运动方程,改进具有位置内环的逆动力学控制方法,使机械臂避障时的动态性能具有类似质量-阻尼系统的物理特性.该方法可以在控制末端执行器运动的同时实现冗余机械臂避障.为了验证所提出方法的性能,利用在轨自维护实验平台完成了实验.实验结果表明,机械臂与障碍物的最近距离大于40 mm,末端执行器位置动态误差小于10 mm,稳态误差小于2 mm.这些结果显示,所提出的方法通过合理地自运动行为实现了冗余机械臂的避障控制,而且在避障过程中不影响末端执行器的操作. 相似文献
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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots 总被引:1,自引:0,他引:1
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic
relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping
method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control
technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that
is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the
backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity
of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot.
Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance
control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully
as depicted theoretically. 相似文献
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孙奎 《中国眼镜科技杂志》2006,(9):121-121
眼球的内容物作用于眼球壁的作用力称为眼压,就像血管内的压力叫做血压一样。正常的视功能有赖于正常眼压的维持,正常范围的眼压可维持眼球的稳定,保持良好的眼的光系统的光学质量和保证眼内的正常代谢过程。正常人的眼压为10mmHg~21mmHg,正常的眼压取决于眼球内房水的生成和流出两者的动态平衡,生成多少,就流出多少。如果生成过多或流出受阻,两者发生失衡,便会引起眼压增高或降低,就会像自行车车胎打气过足而爆破或车胎漏气一样,都不能行驶。眼压〉24mmHg或〈8mmHg为异常,分别为高眼压和低眼压,在病理下,眼压过高或过低都会不同程度地损害眼的组织和视功能,尤其以眼压过高为甚。因此,眼压是眼科检查项目中重要的一项,其值的高低关系到眼的视功能。在检查时,医生用两手的食指通过上眼睑,轻轻地、交替地触压眼球,感触眼球的波动感,和软硬度,如同用手摁自行车的车胎来判断气是否充足。正常眼压者,触压眼球时有一定的波动感和软硬度,若波动明显而瘪软,为眼压低反之,波动不明显而坚硬者,则为眼压高。此检测法简便,只凭医生两只手指感触,无需任何仪器和设备,但测试结果不甚精确,仅作一般参考,尤其是眼压轻度异常者,难以判断。 相似文献
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An optimal measurement pose number searching method was designed to improve the pose selection method. Several optimal robot
measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration
set for robot calibration one by one. The root mean squares (RMS) of the errors of each end-effector poses after being calibrated
by these configuration sets were calculated. The optimal number of the configuration set corresponding to the least RMS of
pose error was then obtained. Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,
meanwhile consumes less time. An optimal pose set including optimal 25 measurement configurations is found during the simulation.
Tracking errors after calibration by using these poses are 1.54, 1.61 and 0.86 mm, and better than those before calibration
which are 7.79, 7.62 and 8.29 mm, even better than those calibrated by the random method which are 2.22, 2.35 and 1.69 mm
in directions X, Y and Z, respectively. 相似文献