柔性制造系统控制软件(F lex ib le m anu facturing con tro l softw are,FM CS)是保证柔性制造系统正常运行、实现预定生产行为的关键。通过分析扩展面向对象Petri网(Ex tended ob ject-orien ted Petri net,EOPN)与统一建模语言(U n ...柔性制造系统控制软件(F lex ib le m anu facturing con tro l softw are,FM CS)是保证柔性制造系统正常运行、实现预定生产行为的关键。通过分析扩展面向对象Petri网(Ex tended ob ject-orien ted Petri net,EOPN)与统一建模语言(U n ited m ode ling language,UM L)建模的特点,并在分析柔性制造系统复杂功能层次的基础上,本文提出了一种针对FM CS,采用UM L描述方法的EOPN建模方法。该方法综合了EOPN和UM L建模的长处,支持FM CS从需求分析到模型实现的全生命周期。用该方法分析和设计的FM CS具有良好的可重用性、可扩展性和可变性,同时简化了控制软件的开发过程,降低了开发成本。展开更多
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Compar...A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.展开更多
文摘柔性制造系统控制软件(F lex ib le m anu facturing con tro l softw are,FM CS)是保证柔性制造系统正常运行、实现预定生产行为的关键。通过分析扩展面向对象Petri网(Ex tended ob ject-orien ted Petri net,EOPN)与统一建模语言(U n ited m ode ling language,UM L)建模的特点,并在分析柔性制造系统复杂功能层次的基础上,本文提出了一种针对FM CS,采用UM L描述方法的EOPN建模方法。该方法综合了EOPN和UM L建模的长处,支持FM CS从需求分析到模型实现的全生命周期。用该方法分析和设计的FM CS具有良好的可重用性、可扩展性和可变性,同时简化了控制软件的开发过程,降低了开发成本。
基金Project(2006AA04Z228) supported by the National High-Tech Research and Development Program of ChinaProject(PCSIRT) supported by Program for Changjiang Scholars and Innovative Research Team in University
文摘A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.
