2019年 机器人学基础第5章机器人控制ppt课件.ppt

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1、机器人学基础FundamentalsofRobotics智能科学基础系列课程国家级教学团队“机器人学”课程主讲：蔡自兴谢斌中南大学2019FundamentalsofRobotics1RobotHuboMadeinChinaTrainedinUSA2FundamentalsofRoboticsHUBORobotHero，I’mHubo.Iamaveryuniquerobot.ThemoreweplaythemoreIcando!Icanplaygames,danceandevensingtoyou!Let’sbegoodfriends!

2、3FundamentalsofRobotics中南大学蔡自兴，谢斌zxcai,xiebinmail.csu.edu2019机器人学基础第五章机器人控制4Ch.5RobotControlFundamentalsofRoboticsFundamentalsofRoboticsChapter5RobotControl第五章机器人控制5.1BasicPrinciplesofRobotControl5.2PositionControlofRobots5.3HybridControlofForce/PositionofRobots5.4Intell

3、igentControlofRobots5.5SummaryExamplesRobotHuBoPUMA560WatchavideoofBigDogPUMA560PreciseUniversalMachineforAssemblyAnindustrialrobotRobotHuBoAmobilerobotDesignedinUSAMadeinChinaCanplaygames,danceandsingWatchvedioBigDogMadebyBostonDynamicsCo.US.Amilitaryrobotwhichhasamazin

4、gmobilityandadaptability.Itcanclimbup35°slopes,carrymorethan40kgequipment.Impression:Kinem.+Dynam.+?10Chapter5RobotControl5.1BasicPrinciplesofRobotControl机器人的基本控制原则Theissueofrobotcontroliscloselyrelatedtorobotickinematicsanddynamics.(howlearn?).Fromthepointviewofcontrol,

5、Theroboticsystemisarepresentativeredundant,multi-variableandnonlinearcontrolsysteminnature,andacomplexcouplingdynamicsystem.Everycontroltaskitselfisadynamicaltask.机器人学基础115.1BasicPrinciplesofRobotControlClassificationofControllersnon-servocontrolservocontrolposition/spee

6、dfeedbackcontrolforce(torque)controlHybridF-Pcontrolsensor-basedcontrolnonlinearcontrol5.1.1BasicControlPrinciples5.1BasicPrinciplesofRobotControladaptivecontrolhierarchicalcontroloptimalcontrolfuzzycontrolneurocontrolotherintelligentcontrols…125.1.1BasicControlPrinciple

7、sIndustrialrobotcontrollercanbedividedintosingle-joint(link)controllerandmulti-joint(link)controller.Robotcontroldependsonits"head",thatthedevelopmentoftheprocessor.Variouscontrolmethodscanbeusedaccordingtotheactualworkingconditions.5.1BasicPrinciplesofRobotControl5.1.1B

8、asicControlPrinciples13主要控制变量（ControlVariables）Controlvariablesofjointsofamanipulator5.1机器人的基本控制原则14控制层