摘要
节能降耗是现代工业生产的普遍需要。针对直流电机和减速齿轮驱动下的机械臂关节,详细论述了非线性摩擦最小能耗的分析和计算方法。在PTP位置控制系统中,耗散能量的最小化取决于最佳穿越时间。仿真和实验的结果证明了这一结论。
Energy conservation through energy efficient practices is a current requirement in many industries.This paper presents a method that how to minimize dissipated energy due to nonlinear frictions for manipulator with a joint, which driven by DC motors and gears.In PTP position control system, minimization of the dissipated energy is determined by optimal cross time.The conclusion is confirmed by simulations and experiment.
出处
《微计算机信息》
2010年第8期157-158,147,共3页
Control & Automation
基金
基金申请人:朱学军
项目名称:关节型工业机器人最优能量规划
基金颁发部门:宁夏科学技术厅(NZ0727)
关键词
关节驱动系统
非线性摩擦
能耗最小化
工业机器人
Driving System of Joint
Nonlinear Frictions
Minimizing Dissipated Energy
Industrial Robot
