SCARA型机器人鲁棒控制及仿真的研究

《SCARA型机器人鲁棒控制及仿真的研究》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、Y1404972分类号：UDC：密级：学校代号：10150学号：20052026峡建交积挚硕士学位论文SCARA型机器人鲁棒控制及仿真的研究StudyonRobustControlandSimulationfortheSCARARobot学生姓名：导师及职称：学科门类：专业名称：郭其龙张连东副教授工学机械制造及其自动化研究方向：先进加工技术的理论与方法申请学位级别：论文答辩日期：学位授予单位：硕士2008年6月5日大连交通大学AbstractTheplanearticulatedrobotalsoiscalledSCARAassemblyrobotwh

2、ichisakindofrobotarnlappliedinassembly．Withthehigh-speeddevelopmentofthemodemmanufacturingindustry，itputsforwardahigherdemandtothemovingspeed，precisionandtheeffectiveloadabilityoftherobot．Theseperformanceswillbeinfluencedbythevarietyof、Ⅳorkenvironmentsandtheuncertainfactors，SOth

3、eassembleprecisionwillbedecreasedwhenweenhanceoftheperformanceoftherobotandthecomplexityofworkenvironment．Thisthesisfirstlyanalyzesthestructureoftherobotandestablishesthekinematicsanddynamicsmodelsoftherobotrespectivelyonthebasisofthestructureandworkspaceoftherobot．Thisthesismak

4、esaneffectivetrajectoryplanningandsimulationusingrobustcontroltodeletetheuncertaininfluence，suchasthefrictionoftherobot，thechangesofparametersandvibrationduringwork．Inthemeantime，weintroducedthefeedforwardcompensationtorestrainvariousinterferencefactorseffectively．Duetotherobots

5、ystemhastime’varying，strongcouplingandnonlineardynamicscharacteristics，itscontrolisverycomplicated·Thisthesisbuiltupamorepreciseandintegrateddynamicmodelbasedontheadequateanalysesofmodelerrors，loadvarietiesandoutsideinterferences．Atthesametime，thisthesisusesHoocontrolmethodtostu

6、dyhowtodesigncontrollerundertheinterferencefunctiontomakethesystemstableinsideandmakesuretheeffectsofinterferencetotheoutputislessthancertaindegreeshencethesystemwillhavecertainrobuststability．Weperformsimulationoftherobotsystembythes-functionintheMATLAB．Accordingtothedynamicequ

7、ationofrobot，wemakeacorrespondingprogram．Bytheinitialconditionoftherobotsystem，thejointcontroloutputviasimulationisattained．Thesimulationshowsthatitcallobtainabettercontroleffect．Finally．thisthesiscombinestheSolidWorkswiththe3DSMAXsoftwaretobuildupt11e3Dentityshapeoftherobot，and

8、makesuseoftheVRMLtechniqueintheMATLABtoimport3D