CAJ | 학술논문

搬砖机器人大大提高了企业的生产效率。搬砖机器人采用计算转矩控制，需要事先确保机械臂的所有参数和有效载荷等动力学模型的各个参数完全已知。机器人在投入使用之前难以调试，且忽略摩擦和扰动输入的反馈线性控制在实际不确定性系统中不能长时间稳定工作。对某公司生产的搬砖机器人进行了研究，并采用改进的具有变结构补偿的计算转矩控制，使搬砖机器人具有前馈补偿跟踪系统。实际验证表明，该控制方案能适应长时间稳定工作，为其他类似机器人控制方案的设计提供了参考。
반전궤기인대대제고료기업적생산효솔。반전궤기인채용계산전구공제，수요사선학보궤계비적소유삼수화유효재하등동역학모형적각개삼수완전이지。궤기인재투입사용지전난이조시，차홀략마찰화우동수입적반궤선성공제재실제불학정성계통중불능장시간은정공작。대모공사생산적반전궤기인진행료연구，병채용개진적구유변결구보상적계산전구공제，사반전궤기인구유전궤보상근종계통。실제험증표명，해공제방안능괄응장시간은정공작，위기타유사궤기인공제방안적설계제공료삼고。
Brick-carrying robots improve the production efficiency to a large extent for the enterprises. Because brick-carrying robot is adopting computed torque control, so all the parameters of mechanical arm and all the parameters of the dynamics model of payload shall be known in advance. It is difficult to debug the robot before put it into service, and the feedback linear control ignoring friction and disturbance input cannot operate steady for long period in practical uncertainty system. The brick-carrying robot manufactured by certain company is researched, by adopting the improved computed torque control with variable structure compensation; the brick-carrying robot may possess feed-forward compensation tracking system. The practical verification indicates that the proposed method can adapt long time stable operation; it provides reference for similar control scheme of robots.