离散S曲线算法控制的机械手臂运动特性研究

针对机械手装配应用中对作业精度及响应速度的要求,研究了步进电机驱动的正交两指机械手臂动作高精度、快响应的平滑控制方法。研究基于连续S曲线函数离散处理的算法实现步进电机平滑控制调速的机理,分析了每步脉冲离散处理算法对步进电机升频和降频的作用。通过理论计算确定优化离散S曲线,并应用于机械臂中进行仿真,结果表明:输出转矩曲线与理论曲线拟合度基本一致。将离散优化的S曲线算法在还原魔方机器人正交两指机械手臂上进行试验,试验表明:在斜率常数为a=0.44时,步进电机可实现快速精确控制,能有效解决其在高速精确运动中的失步、过冲等问题。

Research on Motion Characteristics of Robot Arm Controlled by Discrete S-curve Algorithm

Aiming at the requirements of operation accuracy and response speed in robotic assembly applications,the high-precision,fast-response smooth control method of the motion of the orthogonal two-finger manipulator driven by the stepper motor were studied in this paper.The mechanism of smooth speed control of stepper motor based on discrete processing algorithm of continuous S-curve function was studied,and the effect of each step of the discrete processing algorithm on the up-frequency and down-frequency of the stepper motor was analyzed as well.The optimized discrete S-curve was determined by theoretical calculation and applied to the robot arm for simulation.The moment curve was basically consistent with the theoretical curve.The discrete optimized S-curve algorithm was tested on the orthogonal two-finger mechanical arm of the restored Rubik's cube robot.The experimental results showed that when the slope constant a of the motor was 0.44,the stepper motor can realize fast and accurate control,and can effectively solve the problems of out-of-step and overshoot in high-speed and accurate motion.