氩弧焊工业机器人驱动控制技术地研究.pdf

Abstract Industrialrobotshavebecomean ofelectromechanical in integralpart integrationequipment modem．industrial isnot a lotof inthe alsoinvolves production．Robotonly popularityindustry,but andentertainmentcan the and a麟，and trajectory military,medical，service completespredetermined drive function toresearchand of control efficiency,owing applicationhigh-precision technology． is tO therobot． Therefore，itvery study important describestheinformationoftherobotfromthe oftherobots Firstly,thispaper aspects totechnical ofindustrialrobots．Onthis the status，classification development parameters basis，study robotcontrol the ofcontrol industrial system，includingfollowing：thecomposition，characteristics architectureofcontrol anda controlschemeoftheindustrial mode，the systemtypical system，control the andcharacteristicsofMOTOMAN—HP20industrialrobotcontrol robot．Then，analyzecomposition wellasilluminatethedifferentbetweenMCllDMANindustrialrobotsandotherindustrial system．as robots． studiesthe ofservodrive oftheindustrial Second，this paper composition system robots，and vectorcontrol ofthe motor．Introducethemodulation analyses system permanentmagnetsynchronous servo showthetraditionalSPWMand hasa SVPWM whi