中国机械工程2024，Vol.35Issue(1)：56-66,11.DOI:10.3969/j.issn.1004-132X.2024.01.005
外肢体机器人驱动单元低速死区自适应补偿方法
Low-speed Dead Zone Adaptive Compensation Method for Drive Units of Supernumerary Robotic Limbs
摘要
Abstract
Io improve the control accuracy of high power density drive units in supernumerary ro-botic limbs,a low-speed dead zone adaptive compensation method was proposed.Firstly,the drive unit model was established based on the least square system identification and damping identification methods.Then,a computed torque control method for the drive units was proposed.Finally,an adap-tive compensation method for the low-speed dead zone of the drive units was proposed and verified.The experimental results show that compared with the traditional PID control method,the maximum angle tracking errors of the drive units are reduced by about 53％and the average angle tracking errors are reduced by about 38％after the computed torque control method is utilized.Based on the compu-ted torque control method,the maximum angle tracking errors of the drive units are reduced by about 45％and the average angle tracking errors are reduced by about 60％after the low-speed dead zone a-daptive compensation method is adopted.The control accuracy of the drive units is significantly im-proved.关键词
驱动单元/死区补偿/控制方法/外肢体机器人/系统辨识Key words
drive unit/dead zone compensation/control method/supernumerary robotic limbs/system identification分类
信息技术与安全科学引用本文复制引用
陈重远,陈珂,刘浩,欧阳小平..外肢体机器人驱动单元低速死区自适应补偿方法[J].中国机械工程,2024,35(1):56-66,11.基金项目
国家重点研发计划(2018YFB1305402) （2018YFB1305402）
