运动控制技术及其在机器人控制系统中的应用

《运动控制技术及其在机器人控制系统中的应用》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、中国科学技术大学硕士学位论文运动控制技术及其在机器人控制系统中的应用姓名：杜浩藩申请学位级别：硕士专业：模式识别与智能系统指导教师：丛爽2003.5.1AbstractInthisthesis．westudyseveralmotioncontroltechniquesanddevelopakindof4-DOFpick．placeandassemblyrobotcontrolsystemusingthesetechniques．Softwareandhardwaresystemoftherobotaredesignedin

2、accordancewithrobotindustrystandard，thustherobotacquireshighspeedandhighprecisioncontroleffectinrealpick—placeandassemblytask．Contentofthisthesisincludesmotioncontroltheoryandstructureofmotioncontrolsystem，modelofsingleaxiscontrolsystemandcontrolalgorithm，research

3、onimprovingcontrolprecision，multipleaxisharmonymotioncontrol，designandimplementofthe4-DOFrobotcontrolsystem．Motioncontrolisanintegrated，multipleandcrossdisciplinewhichcomesintobeingalongwithprogressofscienceandtechnology．Ithaswideapplicationssuchasprecisioninstrum

4、entmanufacture．Inthefirstchapterweintroducemotioncontroltheoryandstructureofmotioncontrolsystem，andsummarizethetheoryandcharacteristicofmotor,transmissionandmeasureinstrument．Controlalgorithmisthecoreofmotioncontr01．Inthesecondchapter,usingsingleaxismotioncontrolp

5、lant，westudyanumberofclassicalmotioncontrolalgorithms；comparecontroleffectsofsomekindofvelocityfeedbackmethods；analyzenoisebroughtfromthedifferentialtermofPIDcontrollerandthusinducePI·Dcontroller；studycompoundcontrollerwithreferencevelocityandaccelerationsignalfee

6、dforward；emphasizeontheoryandexperimentresearchofrepetitivecontrolontrackingperiodreferenceinputwithoutstead-stateerrororeliminatingperioddisturbance，Highspeedandhighprecisionarealwaysgoalsofmotioncontr01．Inthet11irdchapterwestudynoiseanddisturbanceinmotioncontrol

7、systemfromviewpointofsignalprocessandcontrol；analyzeseveraldisturbanceseliminationmethodswhichcarlimprovecontrolprecision．SomesimulationworksonwaveletdenoisinginMatlabenvironmentarealsodoneinthischapteLIndustrymotioncontrolsystemsaremulti·axissystemsandthereexistm

8、ulti—axisharmonycontrolproblems．Inthefourthchapterwestudymulti—axispathplanningusinga2-DOFrobotarmcontrolsystemanddiscussawideusedDSP．basedmotioncontrol