基于PSD的工业机器人无标定伺服定位系统

摘要

鉴于无标定伺服自动定位在基于PSD与虚拟空间线约束的自标定技术中的重要性,针对自动定位进行研究,设计了单个PSD的无标定伺服自动定位系统,在PSD与机器人人位置未知的情况下,综合利用机器人运动学模型、机器人控制律、机器人动力学模型,推导出新系统下的机器人速度雅克比矩阵以及自适应算法.利用理论证明与软件仿真验证了无标定伺服自动定位系统和自适应算法的准确性.%For the un-calibrated servo positioning is of important for the research based on PSDs and virtual linear constraint, the un-calibrated servo positioning system of single PSD was designed.Under the condition of PSD and unknown position of robot, kinematics model, control principle and dynamics model of robot were used synthetically to deduce Jacobian matrix and adaptive algorithm in the new system.Theoretic prove and software simulation are used to verify the accuracy of the un-calibrated servo positioning system and adaptive algorithm.