605-064676-003 应用于控制驱动输入数字模块

605-064676-003 应用于控制驱动输入数字模块

605-064676-003 应用于控制驱动输入数字模块

工业机器人控制策略发展趋势 到目前为止, 多数商品化工业机器人控制器下级 的控制策略基本上是独立关节 PID伺服算法。

这种控 制方法的主要缺点是, 反馈增益是预先确定的常量, 它不能在有效载荷变化的情况下改变反馈增益。机器 人高速运动时, 其动力学效应十分 为解决上述 & 96& 机床与液压 第 36卷 问题, 就要根据机器人手臂的动态模型求出施加于机 器人手臂的力矩。于是就提出了诸如计算力矩法、非 线性解耦反馈控制、前馈补偿控制算法等方案。

605-064676-003 应用于控制驱动输入数字模块

So far, the control strategy of most commercial industrial robot controllers is basically an independent joint PID servo algorithm.

The main disadvantage of this control method is that the feedback gain is a predetermined constant, and it cannot change the feedback gain in the case of payload changes. When the robot moves at high speed, its dynamic effect is very important to solve the above &96 & machine tool and hydraulic volume 36 problem, it is necessary to calculate the torque applied to the robot arm according to the dynamic model of the robot arm. Therefore, some schemes such as calculating moment method, non-linear decoupling feedback control, feedforward compensation control algorithm are proposed.