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1、中南大学 蔡自兴，谢 斌 zxcai, 2010,机器人学基础 第五章 机器人控制,1,Ch.5 Robot Control,Fundamentals of Robotics,Fundamentals of Robotics,Chapter 5 Robot Control 第五章 机器人控制 5.1 Basic Principles of Robot Control 5.2 Position Control of Robots 5.3 Hybrid Control of Force/Position of Robots 5.4 Intelligent Control of Robots 5.
2、5 Summary,Robot Hubo Made in China Trained in USA,3,Fundamentals of Robotics,HUBO Robot,Hero，Im Hubo. I am a very unique robot. The more we play the more I can do! I can play games, dance and even sing to you! Lets be good friends!,4,Fundamentals of Robotics,Examples Robot HuBo PUMA 560 Watch a vide
3、o of BigDog,PUMA 560 Precise Universal Machine for Assembly An industrial robot,Robot HuBo A mobile robot Designed in USA Made in China Can play games, dance and sing,Watch vedio BigDog Made by Boston Dynamics Co. US. A military robot which has amazing mobility and adaptability. It can climb up 35 s
4、lopes, carry more than 40 kg equipment. Impression: Kinem. + Dynam. + ?,9,Chapter 5 Robot Control,5.1 Basic Principles of Robot Control 机器人的基本控制原则 The issue of robot control is closely related to robotic kinematics and dynamics. (how learn?). From the point view of control, The robotic system is a r
5、epresentative redundant, multi-variable and nonlinear control system in nature, and a complex coupling dynamic system. Every control task it self is a dynamical task.,机器人学基础,10,5.1 Basic Principles of Robot Control,Classification of Controllers non-servo control servo control position/speed feedback
6、 control force (torque) control Hybrid F-P control sensor-based control nonlinear control,5.1.1 Basic Control Principles,5.1 Basic Principles of Robot Control,adaptive control hierarchical control optimal control fuzzy control neurocontrol other intelligent controls ,11,5.1.1 Basic Control Principle
7、s Industrial robot controller can be divided into single-joint (link) controller and multi-joint (link) controller. Robot control depends on its “head“, that the development of the processor. Various control methods can be used according to the actual working conditions.,5.1 Basic Principles of Robo
8、t Control,5.1.1 Basic Control Principles,12,主要控制变量（Control Variables） Control variables of joints of a manipulator,5.1 机器人的基本控制原则,13,控制层次 Control Levels Level 1： Level of AI Level 2 ： Level of control model Level 3 ： Level of servo system,5.1.1 Basic Control Principles,5.1 机器人的基本控制原则,5.1.1 Basic Con
9、trol Principles,Robot control is the control of bidirectional equation: 末端执行装置的状态是由任务轴的许多参数表示的，它是机器人运动模型矢量X的分量。要控制矢量X 随时间变化的情况，即 ，它表示末端执行装置在空间的实时位置。只有当关节移动时，X 才变化。用矢量 表示关节变量与受控量关系关节变量，即 至 。 各关节具有运动学模型C1至C6，这些模型构成关节矢量 ，并由各传动电动机的力矩矢量 经过变速机送到各个关节。在电流或电压矢量 提供的动力作用和微处理机的控制下，这些电动机产生力矩 。,15,控制层次 Control Le
10、vels 1st Grade: Artificial Intelligence level 2nd Grade: Control model level 3rd Grade: Servo system-level,5.1.1 Basic Control Principles,5.1 Basic Principles of Robot Control,5.1.2 Examples of Servo-control System 伺服控制系统举例,Servo driven system of hydraulic cylinder,16,5.1 机器人的基本控制原则,Electro-hydrauli
11、c servo control system,17,5.1.2 Examples of Servo-control System,5.1 机器人的基本控制原则,18,Manipulator consists of a series of links, whose dynamic characteristics are highly non-linear. We need to build up the mathematical model to control the motor-driven manipulator. Two assumptions in the designing of m
12、odel: The manipulator is an ideal rigid body without friction and gap. Only one degree of freedom for each link, either translation or rotation.,5.2 Position Control of Robot 机器人的位置控制,5.2 Position Control of Robot,19,5.2.1 Modeling of D.C Control System 直流传动系统的建模,Transfer function and equivalent dia
13、gram,5.2 机器人的位置控制,根据电力传动原理可求得下列传递函数： 电动机的开环传递函数，见式5.16 电枢控制直流电动机的传递函数(1)，见式5.23,21,Speed regulation of DC motor,5.2 机器人的位置控制,5.2.1 Modeling of DC Control System,22,Basic control structures,5.2.2 Structure of Position Control 位置控制的基本结构,5.2 机器人的位置控制,23,Servo control structure of PUMA,5.2.2 Structure o
14、f Position Control,5.2 机器人的位置控制,24,Servo control structure for PUMA robot,5.2.2 Structure of Position Control,5.2 Position Control of Robot,25,Servo control structure for PUMA robot,5.2.2 Structure of Position Control,5.2 Position Control of Robot,26,5.2.3 Position Controller of Single Joint 单关节位置控制
15、器,Structure of Position control system,5.2 Position Control of Robot,27,Transfer function of a single-joint controller,5.2.3 Position Controller of Single Joint,5.2 Position Control of Robot,28,5.2.3 Position Controller of Single Joint,5.2 Position Control of Robot,29,Determinate Parameters and the
16、Steady-State Error (SSE) Steady-State Error (SSE),5.2.3 Position Controller of Single Joint,5.2 Position Control of Robot,5.2.4 Position Controller with Multi-Joint 多关节位置控制器,30,Lagrangian dynamic equation,5.2 Position Control of Robot,5.2.4 Position Controller with Multi-Joint,5.2 Position Control of Robot,31,5.2.4 Position Controller with Multi-Joint 多关节位置控制器,32,Co
