摘要
随着我国制造业的快速发展,机器人技术带动了传统装备制造业的转型。机器人在很多生产制造中的应用提升了工业生产效率,节省了人力,有效降低了生产成本,可以应对一些复杂危险的工作环境,保持高强度、标准化工作,不易疲劳,在工业、军事、航天、救灾、医疗、家庭服务及社会服务等领域都有应用。随着机器人相关研发技术的不断改进,可进一步优化其设计,促进机器人自适应性提升。因此,以扰动观测器的机械臂自适应控制能力为例,分析如何提升机械臂自适应能力。
With the rapid development of China’s manufacturing industry, robot technology has largely promoted the transformation of traditional equipment manufacturing industry. The application of robots in many manufacturing has effectively improved production efficiency, saved human resources, effectively reduced production costs, can cope with some complex and dangerous working environments, and can maintain high-intensity and standardized work, It is not easy to fatigue and has different degrees of application in the fields of industry, military, aerospace, disaster relief, medical treatment, family services, social services and so on. With the continuous improvement of robot related R & D technology, the key is to further optimize its design and promote the improvement of robot self adaptability. Taking the adaptive control ability of the manipulator of the disturbance observer as an example, this paper analyzes how to improve the adaptive ability of the manipulator.
作者
傅彩虹
FU Caihong(Wuxi Institute of Communications Technology,Wuxi 214151)
出处
《现代制造技术与装备》
2022年第9期207-209,共3页
Modern Manufacturing Technology and Equipment
关键词
扰动观测期
机械臂
自适应
复合控制
disturbance observation period
mechanical arm
adaptive
compound control
