基于MATLAB/SimMechanics工业机器人惯量前馈仿真研究

摘要

根据当今工业生产过程中的需求，对工业机器人控制系统做了简要介绍。在普通的伺服控制系统的基础上，引入了惯量前馈技术以提高系统控制性能。为了验证引入惯量前馈技术后的机器人系统动态特性，运用了SimMechanics模块建立了机器人模型，并且进行了运动学仿真。结果表明，引入惯量前馈技术的机器人控制系统相对于普通伺服控制系统拥有更好的控制效果和动态特性。%A briefly explain of industrial robot control system was introduced according to the needs in the process of industri-al production in recent years. In order to improve control performance the inertia feedforward control technology was introduced on the basis of the ordinary servo control system. Founded on SimMechanics software module the model of robot is established, while kinematics simulation is performed to verify the dynamic characteristics of robot system after introducing inertia feedfor-ward control technology. The results show that compared with the ordinary servo control system the robot control system adds inertia feedforward control technology have better control effect and dynamic characteristic.