基于驱动量补偿的压电型微小机器人运动控制

为解决一种左右平行驱动式压电陶瓷微小机器人,由装配误差和压电陶瓷特性的不一致所带来的运动偏差,提出了一种基于驱动量补偿的方法对微小机器人进行运动控制.在详细分析微小机器人的stick-and-slip 运动原理的基础上进行实验设计,对左右压电陶瓷驱动器分别输入不同的驱动量,得到多个微小型机器人在横向位置上的位移偏差量.对所得实验数据用最小二乘法进行处理,并拟合出曲线,进而确定微小型机器人的输入驱动量的补偿值.实验表明,加入了补偿输入后,微小型机器人在相同步数下的直线前进运动中,横向的位置偏差减少为原来的6.1％.利用最小二乘法所得到的基于驱动量补偿的运动控制,能有效抑制微小机器人直线运动中横向位置的偏差.

Motion Control of a Piezo Driven Miniature Robot Based on Actuating Signal Compensation

In order to eliminate the motion deviation which is caused by assembling errors of PZT actuators parallel setup miniature robot and inconsistent characteristics of PZT,a method based on actuating signal compension is proposed to control the motion of miniature robot in this paper.Experiments were designed on the basis of detailed analysis of stick and slip motion principle.By taking several actuating signal input differences of the left and right PZT actuators,corresponding lateral motion variations were obtained.A least squares curve fitting was used to analyze the experimental data and determine the input compensation value of the robot.The experimental results show that the robot's lateral motion deviation has been reduced to 6.1% of the original one after joining the input compensation.The motion control based on least squares method was efficient.