[1]夏磊,范坚,戈亦文,等.多模式驱动的机器人关节控制器设计及实验[J].东南大学学报(自然科学版),2013,43(4):729-735.[doi:10.3969/j.issn.1001-0505.2013.04.011]
 Xia Lei,Fan Jian,Ge Yiwen,et al.Design of robot joint controller by multi-mode driving and its experiment[J].Journal of Southeast University (Natural Science Edition),2013,43(4):729-735.[doi:10.3969/j.issn.1001-0505.2013.04.011]
点击复制

多模式驱动的机器人关节控制器设计及实验()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
43
期数:
2013年第4期
页码:
729-735
栏目:
自动化
出版日期:
2013-07-20

文章信息/Info

Title:
Design of robot joint controller by multi-mode driving and its experiment
作者:
夏磊范坚戈亦文郝风吉闫雪罗翔
东南大学机械工程学院, 南京211189
Author(s):
Xia Lei Fan Jian Ge Yiwen Hao Fengji Yan Xue Luo Xiang
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
关键词:
关节控制器 位置控制 力矩控制 切换 实验研究
Keywords:
joint controller position control torque control switching experimental study
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2013.04.011
摘要:
建立了基于直流电机的系统模型,提出了基于PID的闭环反馈控制策略和基于时间或电流的切换控制方法.然后,借助Matlab/Simulink软件分别进行了位置控制、力矩控制及二者切换的仿真,并进行了关节驱动控制系统的软硬件设计.最后,通过实验对所提方法进行了验证与分析.仿真和实验结果表明:所设计的关节控制器,能够实现位置控制、力矩控制功能.在位置控制模式下,影响其响应速度的因素主要是驱动系统硬件.在力矩控制模式下,影响其响应速度的因素主要是PID参数,且当PID参数Kp,Ki,Kd分别为0.2,0.325,3.0时,系统具有较好的响应特性.位置控制与力矩控制2种模式间可基于时间和电流进行稳定的切换.该关节控制器能够应用于机器人关节驱动系统,实现关节的驱动与灵活的控制.
Abstract:
The system model is built based on the DC(direct current)motor. A closed-loop feedback control strategy based on PID(proportion integration differentiation)and a method based on time or current are proposed. Then, the simulation of position control, torque control and switching between them are carried out by means of Matlab/Simulink. Meanwhile, the software and hardware of the joint driving control system are designed. Finally, the proposed method is verified and analyzed by experiments. The simulation and experimental results show that the designed joint controller can realize the function of position control and torque control. In the position control mode, the main factor influencing its response rate is the system hardware. In the torque control mode, the main factor influencing its response rate is the PID parameters. When Kp, Ki, Kd are 0.2, 0.325, 3.0 respectively, the system has good response characteristics. The position control mode and torque control mode can switch to each other based on time and current stably. This joint controller can be applied to the robot joint driving system and the function of joint driving and flexible control can be realized.

参考文献/References:

[1] 杨敏,殷晨波,董云海,等.拟人步行机器人下肢研究现状 [J].机械传动,2006,30(2):86-88.
  Yang Min,Yin Chenbo,Dong Yunhai,et al. Bipedal walking research with humanoid robots [J].Journal of Mechanical Transmission,2006,30(2):86-88.(in Chinese)
[2] Espiau B, Sardain P.The anthropomorphic biped robot BIP2000 [C]//Proceedings of the 2000 IEEE International Conference on Robotics and Automation. San Francisco,CA, USA, 2000:3996-4001.
[3] 杨新海.双足步行方法与控制系统研究 [D].哈尔滨:哈尔滨工程大学机电工程学院,2006.
[4] Sakagami Y,Watanabe R,Aoyama C,et al.The intelligent ASIMO: system overview and integration [C]//Proceedings of the IEEE International Conference on Intelligent Robots and Systems.Lausanne, Switzer land,2002:2478-2483.
[5] Hirai K, Hirose M, Haikawa Y, et al.Development of Honda humanoid robot [C]//Proceedings of the IEEE International Conference on Robotics and Automation. Leuven, Belgium,1998:1321-1326.
[6] Kaneko K,Kanehiro F, Kajita S,et al.Humanoid robot HRP-2 [C]//Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans,LA,USA,2004:1083-1090.
[7] Lee B J,Stonier D,KIim Y D,et al. Modifiable walking pattern generation using real-time ZMP manipulation for humanoid robots [C]//Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, CA, USA, 2007:4221-4226.
[8] Kumagai M,Emura T.Sensor-based walking of human type biped robot that has 14 degree of freedoms [C]//IEEE Proceedings of the Fourth Annual Conference on Mechatronics and Machine Vision in Practice. Toowoomba, Australia,1997:112-117.
[9] 顾星,钟鸣,姚玉峰.基于模糊自适应PID的加样臂位置控制 [J].工程设计学报,2012,19(5):385-390.
  Gu Xing,Zhong Ming,Yao Yufeng.Position control for sampling arm based on self-adapting fuzzy-PID[J].Chinese Journal of Engineering Design,2012,19(5):385-390.(in Chinese)
[10] 李江道.空间机械臂机电一体化关节的设计与控制 [D].上海:上海交通大学电子信息与电气工程学院,2012.
[11] 孙金凤,姜力.基于关节力矩传感器的灵巧手指的阻抗控制 [J].传感器与微系统,2008,27(7):66-74.
  Sun Jinfeng,Jiang Li.Impedance control of dexterous finger based on joint torque sensor [J].Transducer and Microsystem Technologies, 2008,27(7):66-74.(in Chinese)
[12] Kong K,Bae J,Tomizuka M.Control of rotary series elastic actuator for ideal force-mode actuation in human-robot interaction applications [J].IEEE/ASME Transaction on Mechatronics, 2009,14(1):105-118.
[13] 周小波.基于DSP的直流伺服驱动的机器人关节控制系统[D].合肥:安徽大学电气工程与自动化学院, 2010.
[14] 苏州均和伺服科技有限公司.MAXON电机手册—产品目录08/09[R].苏州:苏州均和伺服科技有限公司,2008.

相似文献/References:

[1]黄自鑫,赖旭芝,王亚午,等.二阶非完整平面3R欠驱动机械臂位置控制[J].东南大学学报(自然科学版),2019,49(2):245.[doi:10.3969/j.issn.1001-0505.2019.02.007]
 Huang Zixin,Lai Xuzhi,Wang Yawu,et al.Position control for planar 3R underactuated manipulator with second-order non-holonomic constraints[J].Journal of Southeast University (Natural Science Edition),2019,49(4):245.[doi:10.3969/j.issn.1001-0505.2019.02.007]

备注/Memo

备注/Memo:
作者简介: 夏磊(1990—),男,硕士生;罗翔(联系人),男,博士,副教授,luox@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(51075071).
引文格式: 夏磊,范坚,戈亦文,等.多模式驱动的机器人关节控制器设计及其实验[J].东南大学学报:自然科学版,2013,43(4):729-735. [doi:10.3969/j.issn.1001-0505.2013.04.011]
更新日期/Last Update: 2013-07-20