基于智能交流接触器的采摘机器人机械臂设计

发布时间：2018-09-19 15:19

【摘要】：在充分考虑机械臂伺服电机智能速度检测装置的结构和闭环运动过程控制的基础上,将智能交流接触器引入到了采摘机器人机械臂关节伺服电机的反馈控制中,并建立了PID闭环反馈调节回路,有效地提高了机械臂的控制精度。同时,将智能交流接触器以速度控制函数的形式嵌入到了PID控制环节,采用ADMAS和MatLab软件对机械臂的轨迹控制精度进行了测试,并利用Mat Lab软件计算得到了关节的控制变量,以Spline形式将变量导入到了ADMAS中对机械臂两关节进行控制。通过仿真得到了机械臂关节的输入和输出位移随时间变化曲线和机械臂末端的运动结果,结果表明:输入和输出的位移基本吻合,并且机械臂末端可以按照预定的圆环轨迹运动,从而验证了智能交流接触器PID控制的控制精度。
[Abstract]:On the basis of fully considering the structure of the intelligent speed detecting device and the closed-loop motion process control of the manipulator servo motor, the intelligent AC contactor is introduced into the feedback control of the robotic manipulator joint servo motor. The PID closed loop feedback control loop is established, which effectively improves the control precision of the manipulator. At the same time, the intelligent AC contactor is embedded in the PID control link in the form of speed control function. The trajectory control accuracy of the manipulator is tested by ADMAS and MatLab software, and the control variables of the joint are calculated by Mat Lab software. The variables are imported into ADMAS in the form of Spline to control the two joints of the manipulator. The curves of the input and output displacements with time and the motion results of the end of the manipulator are obtained by simulation. The results show that the input and output displacements are in good agreement with each other. The end of the manipulator can move according to the predetermined annular trajectory, which verifies the control accuracy of the intelligent AC contactor PID control.
【作者单位】：河南工业职业技术学院;国家电网山东栖霞市供电公司;
【基金】：河南省科技攻关项目(152102410036)
【分类号】：TP242;S225

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