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Advances in Robot Manipulators Part 18
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Tham khảo tài liệu 'advances in robot manipulators part 18', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 672 Advances in Robot Manipulators J1 J2 Moment of inertias of arms 1 and 2 0.0980kgm2 0.0980kgm2 Jm1 Jm2 Inertias of motors 1 and 2 3.3.10-6 kgm2 3.3.10-6 kgm2 mẢ m2 Masses of arms 1 and 2 1.90 kg 0.93 kg r1 r2 Lenghts of arms 1 and 2 250 mm 150 mm N1 N2 Gearbox ratios of motors 1 90 and 2 220 Table 1. Serpent-1 robot parameters and their values 5. Simulation Dynamics of the SCARA robot and three types of controllers namely PD learning and adaptive learning controllers are modelled in MATLAB Simulink environment. A general simulation model is given in Fig. 7. In the first simulation the SCARA is controlled by PD controller. In this case the electrical dynamics are neglected and the controller block is replaced with a PD controller Fig.7 . The control coefficients are selected as Kp1 300 Kd1 50 Kp2 30 Kd2 15 for link 1 and link 2 respectively Das Dulger 2005 . As the second simulation SCARA is controlled by learning controller. Here the electrical dynamics are again neglected and the controller block is replaced with the learning controller designed by Messner et al. 1991 . In the learning controller the parameters are selected as Fig. 7. Detailed Block diagram of robot and controller Trajectory Control of RLED Robot Manipulators Using a New Type of Learning Rule 673 F 2000 _ 0 0 160 200 0 F V 0 4 2000 0 KL L 0 175 73 74 75 and Ằp 10 ve a 0 dm Xp 0 Messner et al. 1991 . The computation of 9x and wr are accomplished by numerical integration with embedded function blocks. The learning controllers have two different independent dynamic time variables. The simulation packages do not allow more than one independent simulation variables. To overcome this limitation the second time variable is defined as a discrete variable and at every discrete point some state variables are introduced according to the dynamics. The differentiation and integration in the second variable are defined through summation and difference equations. The result is a heavy computational burden on