• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1995, Vol. 31 ›› Issue (1): 115-120.

• 论文 • 上一篇    

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机械人力控制系统稳定性分析及振动抑制

戴铁成;蔡鹤皋;吴林   

  1. 哈尔滨工业大学
  • 发布日期:1995-01-01

ANALYSIS ON THE STABILITY OF ROBOT FORCE CONTROL SYSTEMS AND VIBRATION SUPPRESSION

Dai Tiecheng;Cai Hegao;Wu Lin   

  1. Harbin Institute of Technology
  • Published:1995-01-01

摘要： 利用Lagrange动力学方程对变通机器人和MACRO/MJCRO组合式机器人两种力控制系统的稳定性进行了分析，分析表明后者更稳定。由于MCARO机器人结构动态和力传感器动态的影响，组合式机器人在高频时存在着共振与反共振，为了提高系统的高频性能，提出了一种优化粘性阻尼系数的方法，结果表明，当驱动力为0.5N时，采用此方法可以使机器人与环境的接触力的变化范围由0.19～1.12N减小为0.44～0.50N。

关键词: 动力学, 机器人, 力传感器, 稳定性, 振动

Abstract: Two robot force control systems, including a conventional root and a MACRO/MICRO robot, are analysed with the dynamic equations of Lagrange. It has been shown that the latter is more stable. Due to the structural dynamics of MACRO robot and the dynamics of the force sensor, there exist some resonances and antiresonances at higher bandwidths of the MACRO/MICRO robot. A method for optimizing the viscous damper is suggested to improve the performance of MACRO/MICRO robot at high bandwidths. The results show that when the driving force is 0.5N, the variation range of the interface force between robot and environment can be narrowed from 0.19～1.12N to 0.44～0.5N with this method.

Key words: Dynamics Stability, Force sensor, Robot, Vibration

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