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Thesis Advisor谭民
Degree Grantor中国科学院自动化研究所
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword机器人 机器人动力学 机器人控制器 并行结构 多机器人协调 数字信号处理芯片 Robot Robotic Dynamics Robot Controller Parallel Architecture Multi-robot Coordination Digital Signal Processor
Abstract本文立足于机器人动力学控制思想和机器人控制器组成结构的研究工作, 提出实时性、开放性、可靠性等各方面都有所提高的新型控制器实验平台。在 第一部分,本文利用现在控制界较为通用的PMAC2,设计了开放的机器人控制 器。在第二部分,本文提出了应用于多机器人协调系统的并行结构控制器的设 计思想。 首先,简要综述了机器人、机器人动力学控制策略以及机器人控制器体系 结构的现在和历史。 接着讨论了基于PMAC2的机器人控制器的实现思想。介绍它的硬件组成 和实时的软件体系结构,并分析了以PMAC2为基础的控制器电流环、速度环、 位置环以及反馈凹路的原理和建立。 但PMAC2只提供单一的PID通道,没有考虑机器人动力学的耦合作用, 不适合高性能的机器人控制的要求。本文根据它所具有的软伺服特性的优点提 出了两种自适应控制方案,并在本部分最后提出了一种新的动态补偿软伺服控 制算法,利用补偿式解耦的方法来实现单通道的PID控制。 最后本文在已往机器人控制器组成思想的指导下,提出了一种基于多DSP 并行结构的控制器设计思想。介绍了它硬件和软件的体系结构以及在开放性、 实时性和可靠性等方面的性能,并把它应用到码头多机器人协调系统的控制研 究上,分析了系统中各个子任务进程的调度和实现。
Other AbstractThe dissertation focuses on the research involving in the algorithm of the robotic dynamic control and the architecture of the robot controller. It presents the new type control-platforms that make the progress on the important capabilities, such as realtime, open architecture, reliability, and so on. On the first place, the dissertation designs the controller with open architecture on the basis of PMAC2 which is often used in the present control society. On the second place, the dissertation presents the new idea for designing the controller with parallel architecture used in multi-robot coordination system. First, it simply summarizes the history and today of the development of the robot as well as the algorithm of its dynamic control and the architecture of its controller. Next, it discusses about the idea for designing the controller realized on PMAC2. It introduces the architecture of the hardware and software and analyses the theory and foundation of the current loop. velocity loop, position loop as well as feedback circuit. However, with a single thoroughfare for PID, PMAC2 does not take the coupled effect in robotic dynamics into account. In accordance with its soft-servo characteristics, the dissertation presents two self-adapting algorithms, and at last, presents a new controlling algorithm, dynamic-compensation soft-servo control, which takes advantage of compensation to get rid of the coupling and realize the single thoroughfare for PID. At last, enlighten by the experience on the typical architecture of the controller, the dissertation introduces a new idea for the controller with multiple DSPs in parallel. It introduces the open architecture of hardware and software as well as its real-time and reliability. Furthermore, the-dissertation analyses the schedule and realization of the subtasks of the controller when used into the multi-robot coordination system on the dock.
Other Identifier519
Document Type学位论文
Recommended Citation
GB/T 7714
胡健. 基于PMAC2机器人控制与并行结构控制器研究[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,1999.
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