多操作机排牙机器人的高精度运动控制

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张永德, 彭景春, 姜金刚. 多操作机排牙机器人的高精度运动控制[J]. 机器人, 2008, 30(6): 542-547.. ZHANG Yong-de, PENG Jing-chun, JIANG Jin-gang. High Precision Motion Control for Multi-manipulator Tooth Arrangement Robot. ROBOT, 2008, 30(6): 542-547..

摘要根据多操作机排牙机器人的结构特点及其高精度运动控制的要求，并结合软、硬件控制的特点，确定了通过软件来实现多操作机排牙机器人高精度运动控制的方案．通过对多操作机排牙机器人控制系统的研究，分析了影响控制精度的各个环节，提出了预设定时和实时定时的两种控制软件实现方法．通过测试及排牙控制实验对两种实现方法的控制精度及稳定性进行了比较分析，验证了实时定时的控制软件实现方法可实现多操作机排牙机器人的高精度运动控制．

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	张永德
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关键词 ：多操作机排牙机器人, 步进电机, 软件控制

Abstract：According to the structural characteristics and high precision motion control of multi-manipulator tooth arrangement robot,and with the combination of the characteristics of software and hardware control,this paper presentnts a high precision motion control scheme based on software for the multi-manipulator tooth arrangement robot.Based on the research on control system of the multi-manipulator tooth arrangement robot,each link influencing the control precision is analyzed,and two software realization methods of presetting timing and real-time timing are presented.Control precision and stability of the two methods are analyzed with test and experiment on tooth arrangement control,and it is concluded that high precision motion control for multi-manipulator tooth arrangement robot can be realized with the real-time software realization method.

Key words： multi-manipulator tooth arrangement robot stepping motor software control

收稿日期: 2008-04-15

TP242

基金资助:国家自然科学基金资助项目（50675054）；哈尔滨市科技创新人才基金资助项目（RC2006LX006004）

作者简介: 张永德（1965- ），男，博士，教授．研究领域：医用机器人，服务机器人，仿生机器人，多指灵巧手．
彭景春（1975- ），女，硕士生．研究领域：机器人控制技术．
姜金刚（1982- ），男硕士生．研究领域：机器人控制技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I6/542

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