Abstract：Focused on the large error of separation design for industrial robot servo system structure and control, a new integrated design method for coupling structure and control is proposed. The method takes the structural weight, tracking precision and control energy as the target function, takes stable and fast tracking performance as the constraint, and considers the coupling problem of structure and control by using a step iterative strategy so as to achieve the goal of the industrial robot working in the best state. The integrated design method is evaluated via MTALAB on a two joint robot. Simulation results show that the proposed method can make the industrial robot have good robustness, and that the adjustment of the length of time, overshoot elimination and step response are all superior to those by separation design, the robot system being working in optimal performance.
白克强, 刘知贵, 王营通. 工业机器人结构与控制耦合的集成设计方法[J]. 科技导报, 2018, 36(9): 91-96.
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