中文摘要：

为了能够在有限的能量供给的情况下延长机器人运行时间,针对此类机器人在运动中的耗能问题,提出一种通过改进梯形升降速算法来实现多关节机器人能量最小消耗的控制方法。首先对多关节机器人的协调控制及能耗问题进行了研究,利用梯形升降速算法的速度函数与伺服电机耗能之间的关系推导出该算法的能量函数;然后通过求解能量函数最小值,得出梯形速度曲线基于能量最优的时间参数,利用该时间参数来设定伺服电机各运动阶段的时间,使机器人耗能最小。最后通过实验计算及分析,验证了所述控制策略在解决机器人耗能最小化问题上的有效性。

英文摘要：

In order to extend robot run time in the situation that limited energy supply,bearing the energy consumption problem of the robots in mind,this paper proposed a new idea that through improving ACC /DEC algorithm to realize the minimum energy consumption. First,studied on joints coordinated control and energy consumption of multi-joint robot,according to the relation between the velocity curve of ACC /DEC algorithm and the energy dissipation of the servo motor,derived the energy dissipation function under this algorithm. Then obtained the optimal time parameter by solving the minimum of the energy dissipation function of ACC /DEC algorithm,and set time of the servo motor at various motion stages using this time parameter,reduced the energy dissipation of the servo motor and minimized the energy consumption of the robot. Finally,the experiment and analysis prove the effectiveness of the control strategy.