3自由度转臂式清洗机器人一级臂定位控制∗

摘要

To solve the first rotary arm control problem of an independent research and development novel 3-DOF rotary arm cleaning robot, a solution adopted "PC + motion controller + center rotary encoder"closed loop position control system is proposed. A full closed loop rotary positioning interpolation algorithm is adopted to control the first rotary arm angle. 3-DOF rotary arm cleaning robot experimental platform is constructed based on PMC6496 motion controller to realize the first rotary arm position control. Experimen-tal results demonstrate 3-DOF rotary arm cleaning robot first arm rotary positioning accuracy is ± 1mm. It indicates that the proposed closed loop position control solution and rotary positioning interpolation algorithm can effectively avoid the precision problems of poor positioning accuracy.%针对自主研发的一种新型3自由度转臂式清洗机器人,进行一级臂精确定位的控制问题的研究。提出控制系统采用“PC机+运动控制器+中心回转编码器”的位置闭环控制方案,并引入回转定位插补算法实现对一级臂回转定位的控制。构建基于PMC6496运动控制器的3自由度转臂式清洗机器人实验平台实现一级臂的精确定位控制,实验结果表明转臂式清洗机器人一级臂的回转定位精度可达到±1 mm,验证了所提出的控制方案和回转定位插补算法能有效避免回转定位精度差的问题。