机器人学基础 第5章 机器人控制 蔡自兴

(5.35)
图5.12 一个关节的电动机-齿轮-负载联合装置示意图
5.2 Position Control of Robot
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5.2.3 Position Controller of Single Joint
图5.13 机械手位置控制器结构图
5.2 Position Control of Robot
5.1 Basic Principles of Robot Control 5.2 Position Control of Robots 5.3 Hybrid Control of Force/Position of Robots 5.4 Intelligent Control of Robots 5.5 Summary
图5.2 机器手主要控制层次
5.1 Basic Principles of Robot Control
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5.1.2 Examples of Servo-control System 伺服控制系统举例
Servo driven system of hydraulic cylinder
图5.3 液压缸伺服传动系统结构图
机器人学基础 9
5.1 Basic Principles of Robot Control
5.1.1 Basic Control Principles
Classification of Controllers
non-servo control servo control position/speed feedback control force (torque) control Hybrid F-P control sensor-based control nonlinear control adaptive control hierarchical control optimal control fuzzy control neurocontrol other intelligent controls …
5.1.1 Basic Control Principles
控制层次 Control Levels
1st Grade: Artificial Intelligence level 2nd Grade: Control model level 3rd Grade: Servo system-level
Fundamentals of Robotics
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Examples
Robot HuBo PUMA 560 Watch a video of BigDog
PUMA 560
Precise Universal Machine for Assembly
An industrial robot
Robot HuBo
5.2 Position Control of Robot
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5.2.3 Position Controller of Single Joint
Transfer function of a single-joint controller
m (S ) KI Vm ( S ) S[ Lm JS 2 ( Rm J Lm B) S ( Rm B k e K I )]
Servo control structure for PUMA robot
图3.9 PUMA机器人的结构图
5.2 Position Control of Robot
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5.2.2 Structure of Position Control
Servo control structure for PUMA robot
末端执行装置的状态是由任务轴的许多参数表示的， 它是机器人运动模型矢量X的分量。要控制矢量X 随时间 变化的情况，即 X (t ) ，它表示末端执行装置在空间的 实时位置。只有当关节移动时，X 才变化。用矢量(t ) 表示关节变量与受控量关系关节变量，即 1 至 6 。
各关节具有运动学模型C1至C6，这些模型构成关节矢 量 C (t ) ，并由各传动电动机的力矩矢量 T (t ) 经过变 速机送到各个关节。在电流或电压矢量 V (t ) 提供的动力 作用和微处理机的控制下，这些电动机产生力矩 T (t ) 。
The manipulator is an ideal rigid body without friction and gap. Only one degree of freedom for each link, either translation or rotation.
5.2 Position Control of Robot
图5.10 PUMA机器人的伺服控制结构
5.2 Position Control of Robot
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5.2.3 Position Controller of Single Joint 单关节位置控制器

Structure of Position control system
图5.11 斯坦福机械手的位置控制系统方框图
机器人学基础
第五章 机器人控制
Fundamentals of Robotics
Ch.5 Robot Control
中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010
Fundamentals of Robotics
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Chapter 5 Robot Control 第五章 机器人控制
5.1 Basic Principles of Robot Control
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5.1.1 Basic Control Principles
Industrial robot controller can be divided into singlejoint (link) controller and multi-joint (link) controller. Robot control depends on its "head", that the development of the processor. Various control methods can be used according to the actual working conditions.
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5.2.1 Modeling of D.C Control System 直流传动系统的建模

Transfer function and equivalent diagram
图5.5 直流电动机伺服传动原理
5.2 机器人的位置控制 19
根据电力传动原理可求得下列传递函数： 电动机的开环传递函数，见式5.16
Manipulator consists of a series of links, whose dynamic characteristics are highly non-linear. We need to build up the mathematical model to control the motor-driven manipulator. Two assumptions in the designing of model:
Impression: Kinem. + Dynam. + ?
Chapter 5 Robot Control
5.1 Basic Principles of Robot Control 机器人的基本控制原则
The issue of robot control is closely related to robotic kinematics and dynamics. (how learn?). From the point view of control, The robotic system is a representative redundant, multi-variable and nonlinear control system in nature, and a complex coupling dynamic system. Every control task it self is a dynamical task.
图5.2 机器手主要控制层次
5.1 机器人的基本控制原则 13
5.1.1 Basic Control Principles
Robot control is the control of bidirectional equation:
V (t ) T (t ) C (t ) (t ) X (t )
Speed regulation of DC motor
(a) 控制原理图
(b) 等效电路图
图5.8 具有测速反馈的直流电动机控制原理图
5.2 机器人的位置控制 21
5.2.2 Structure of Position Control 位置控制的基本结构
Basic control structures
m (S ) km V f ( S ) (r f l f S )( JS 2 FS K )
电枢控制直流电动机的传递函数(1)，见式5.23
m (S ) km Vm ( S ) S[( Rm Lm S )( F JS ) k e k m ]
5.2.1 Modeling of DC Control System
5.1 机器人的基本控制原则
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5.1.2 Examples of Servo-control System Electro-hydraulic servo control system
图5.4 电-液压伺服控制系统
5.1 机器人的基本控制原则
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5.2 Position Control of Robot 机器人的位置控制
图5.1 机器手各关节控制变量
5.1 机器人的基本控制原则 12
5.1.1 Basic Control PBiblioteka Baiduinciples
控制层次 Control Levels
Level 1： Level of AI Level 2 ： Level of control model Level 3 ： Level of servo system
A mobile robot Designed in USA Made in China Can play games, dance and sing
Watch vedio BigDog
Made by Boston Dynamics Co. US. A military robot which has amazing mobility and adaptability. It can climb up 35 ° slopes, carry more than 40 kg equipment.
(a) 关节空间控制结构
(b) 直角坐标空间控制结构
图5.9 机器人位置控制基本结构
5.2 机器人的位置控制
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5.2.2 Structure of Position Control
Servo control structure of PUMA
5.2 机器人的位置控制
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5.2.2 Structure of Position Control
表5.1 机器人控制的分类及其分析方法
5.1 Basic Principles of Robot Control
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5.1.1 Basic Control Principles
主要控制变量（Control Variables） Control variables of joints of a manipulator
Robot Hubo
Made in China Trained in USA
Fundamentals of Robotics
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HUBO Robot
Hero，I’m Hubo. I am a very unique robot. The more we play the more I can do! I can play games, dance and even sing to you! Let’s be good friends!