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Inverted pendulum teaching system based on series robot and control method

A teaching system and control method technology, applied in teaching models, program control manipulators, instruments, etc., can solve problems such as lack of teaching equipment, achieve the effects of improving professional quality, convenient operation, and enhancing stability

Active Publication Date: 2020-07-03
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is a lack of teaching equipment that combines robots with inverted pendulums

Method used

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  • Inverted pendulum teaching system based on series robot and control method
  • Inverted pendulum teaching system based on series robot and control method
  • Inverted pendulum teaching system based on series robot and control method

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Embodiment Construction

[0031] The present invention will be further described in detail below in conjunction with the embodiments.

[0032] A teaching system for an inverted pendulum device based on a series robot includes a series robot, a rotation angle acquisition device, a pendulum rod, a connection device between the robot and the rotation angle acquisition device, a rotation angle acquisition device and a pendulum rod connection device, and a robot and an inverted pendulum control processor. , Algorithm development platform. The robot system is composed of a serial robot, a robot and an inverted pendulum control processor, and an inverted pendulum system is composed of a rotation angle acquisition device, a pendulum rod, a connection device between the robot and the rotation angle acquisition device, and a rotation angle acquisition device and a pendulum rod connection device.

[0033] The tandem robot is used to drive the inverted pendulum system to perform linear motion in the workspace to m...

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Abstract

The invention relates to an inverted pendulum teaching system based on a series robot and a control method. The method comprises the following steps of: initializing reference input of an inverted pendulum; comparing the reference input with collected data, and calculating control errors correspondingly, wherein the control errors comprise a horizontal motion position error, a speed error, a rotation angle error and an angular speed error; according to the control errors, calculating an expected control quantity of the robot by using an inverted pendulum control algorithm; according to the expected control quantity, obtaining a control quantity required for driving the robot to move by using a robot control algorithm, and sending the control quantity to the robot; and collecting the motionstate of the inverted pendulum and feeding back the motion state to the collected data, wherein the motion state of the inverted pendulum comprises a horizontal motion position and speed, a rotationangle and an angular speed, and closed-loop control of the inverted pendulum is realized. According to the invention, the teaching experiment requirements of colleges and universities in related subject directions such as robots and automatic control can be met, and students can be helped to apply learned professional knowledge to specific engineering projects.

Description

technical field [0001] The invention relates to the fields of robots, automatic control and related teaching. Specifically, it is an inverted pendulum teaching system and control method based on a series robot. Background technique [0002] Inverted pendulum systems are widely used in military, aerospace, walking robots and other fields. And serial robots play an important role in industrial production, scientific research and even people's lives. There is an urgent need for colleges and universities to train a large number of professional and technical personnel, which puts forward higher requirements for colleges and universities to teach in related fields. Therefore, colleges and universities have a huge demand for teaching equipment in related fields. At present, there is a lack of teaching equipment that combines robots with inverted pendulums. The teaching system combining robots and inverted pendulums can cultivate students' abilities more comprehensively, and can...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G09B25/02
CPCB25J9/1664B25J9/1602G09B25/02
Inventor 韩冰刘广辉张华良王福东杨帆
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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