CAJ | 학술논문

建立了新型雕刻机器人的雕刻并联头的运动学模型，计算出了运动学的正解和反解；研究了新型雕刻并联工作头的控制策略，建立了PD算法、PD加重力补偿算法和计算力矩法3种控制策略的模型；采用Matlab/Simulink软件，仿真了3种算法搭建的数学模型，比较得出了不同控制算法的优劣。结果表明，在3种控制策略中，计算力矩法的位置控制效果最好，能够保证系统有较强的抗干扰性。所以，新型雕刻机器人选用计算力矩法作为自身的控制策略。
건립료신형조각궤기인적조각병련두적운동학모형，계산출료운동학적정해화반해；연구료신형조각병련공작두적공제책략，건립료PD산법、PD가중력보상산법화계산력구법3충공제책략적모형；채용Matlab/Simulink연건，방진료3충산법탑건적수학모형，비교득출료불동공제산법적우렬。결과표명，재3충공제책략중，계산력구법적위치공제효과최호，능구보증계통유교강적항간우성。소이，신형조각궤기인선용계산력구법작위자신적공제책략。
Firstly ,kinematics model of the new hybrid engraving robot is created and the positive and inverse kinematics solution are calculated ;sec-ondly ,control strategy of the new hybrid engraving robot is studied and three kinds of control strate-gies ,w hich are PD algorithm ,PD gravity compen-sation algorithm and computed torque algorithm , are established ;in the end ,mathematical model of the three algorithms is simulated by Matlab/Simu-link software and compares the pros and cons of different control algorithms .It turned out that in three kinds of control strategies ,position control effect of computed torque algorithm is the best and it can ensure that the system has strong anti jam-ming .So computed torque algorithm is adopted as control strategy of the engraving parallel head .