直接驱动机器人单关节控制系统的研究

ON THE CONTROL SYSTEM FOR INDEPENDENT JOINT OF THE ROBOT MANIPULATORS WITH DIRECT DRIVING

摘要: 本文研究以PWM装置供电的直流电动机驱动的直接驱动机器人单关节控制系统．用8098单片机实现模控制结构控制器，使系统在各种工况下有良好的性能．文1研究了机器人单关节电机驱动的控制问题．采用该法可减少受系统参数和负载力矩变化的影响．本文用模控制结构方法来处理问题．理论分析和实验均证明，所用方法具有很强的鲁棒性．系统参数在100倍范围内变化时，系统都有很好的品质．

Abstract: In this paper, the control system for independent joint of the robot manipurators driven direct byDC motor supplied by PWM is developed.The controller with model control construction is implemented bysingle chip computer 8098.These are many advantages to kept up while the system is operated in differentposture of the robot.