贺红林, 赵淳生. 超声电机驱动的3自由度机器人的设计与实现[J]. 南昌航空大学学报(自然科学版), 2008, 22(1): 72-78.
引用本文: 贺红林, 赵淳生. 超声电机驱动的3自由度机器人的设计与实现[J]. 南昌航空大学学报(自然科学版), 2008, 22(1): 72-78.
shu
HE Hong-lin, ZHAO Chun-sheng. Design and implementation of a 3-DOF robot powered by the ultrasonic motors[J]. Journal of nanchang hangkong university(Natural science edition), 2008, 22(1): 72-78.
Citation: HE Hong-lin, ZHAO Chun-sheng. Design and implementation of a 3-DOF robot powered by the ultrasonic motors[J]. Journal of nanchang hangkong university(Natural science edition), 2008, 22(1): 72-78.
shu

超声电机驱动的3自由度机器人的设计与实现

Design and implementation of a 3-DOF robot powered by the ultrasonic motors

    摘要
  • 摘要: 本文探讨基于USM机器人的性能,设计了USM驱动的3-DOF机器人,基于层次硬件结构建立了该机器人的控制系统,引入了位置-速度复合控制对该机器人进行控制,规划并编程实现了该机器人的控制软件.实验表明,该机器人能实现精确而平稳的连续轨迹跟踪.

     

    Abstract: Aimed to investigate the performance of such a robot,a 3-DOF robot powered by USMs has been designed and made.The hardware system of hierarchy for the 3-DOF robot has been established.The PID control law based on simultaneous position and speed feedback has been employed in the control system.The control software has been planned and programmed.It is shown by experiments that the 3-DOF robots can implement CP control with high precision,and its joints can runs smoothly.

     

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