崔旭东等：面向六关节机器人的位置域控制 251· 150 (b) 100 250.10r(a) Common control track 250.05 0 PID ol t End theory track 250.00 ww 0 249.95 249280 Common control track -50 control 00 600 0 -100 500 100 400 wmm -200300 x/mm -15000 350 400450500550660 x/mm 250.10 250.10 250.08 (c) Common control track 250.08 PID control track oroo rack 250.06 End theory track 250.06 End theory track 250.04 250.04 目250.02 号250.00 249.98 249.98 249.96 249.96 249.94 249.94 249.9 00 550 500450 400 350 300 249.92150 -100 -50 020100150 x/mm wmm 图7进给速率为15000mm:mim时不同控制下末端的平面矩形跟踪轨迹对比图.(a)三维图：(b)x-y平面投影：(c)x-:平面投影：(d)y一：平面投影 Fig.7 Comparison of the planar rectangular tracking tracks at ends under different controls at a feed rate of 15000 mm-min:(a)three-dimensional figure;(b)x-y plane projection;(c)x-plane projection;(d)y=plane projection 150 (b) 250.10〔(a) 100 ontrol track 250.05 50 End th heory track 250.0 0 249.95 249.9 mon control track -50 200 100 End thec ory track 600 500 -100 -100 400 y/mm -200300 x/mm 150300 350 400 450 500550600 x/mm 250.10 250.10 (d) ntrol track 250.08 250.08 End theory trac ck 250.06 -PID -End theory track 250.06 250.04 250.04 250.00 250.00 249.98 249.98 249.96 249.96 249.9 249.9 00 550 500 450 400 350 -150 -100 -50 0 50100150 x/mm 图8进给速率为10000 mm:min时不同控制下末端的平面矩形跟踪轨迹对比图.(a)三维图：(b)x-y平面投影：(c)x-:平面投影：(d)-:平面投影 Fig.8 Comparison of the planar rectangular tracking tracks at ends under different controls at a feed rate of 10000 mmmin:(a)three-dimensional figure;(b)xy plane projection;(c)x-plane projection;(d)y-=plane projection250.10 250.05 250.00 249.95 249.90 200 100 −100 −200 300 400 500 600 0 Common control track PID control track End theory track (a) y/mm x/mm x/mm z/mm 150 50 −50 −100 −150300 350 400 450 500 550 660 0 100 (b) y/mm 250.10 250.08 250.06 250.04 250.00 250.02 249.98 249.96 249.94 249.92 600 550 500 450 400 350 300 z/mm x/mm (c) 250.10 250.08 250.06 250.04 250.02 250.00 249.98 249.96 249.94 249.92−150 −100 −50 0 20 100 150 z/mm y/mm (d) Common control track PID control track End theory track Common control track PID control track End theory track Common control track PID control track End theory track 图 7    进给速率为 15000 mm·min−1 时不同控制下末端的平面矩形跟踪轨迹对比图. （a）三维图；（b）x−y 平面投影；（c）x−z 平面投影；（d）y−z 平面投影 Fig.7    Comparison of the planar rectangular tracking tracks at ends under different controls at a feed rate of 15000 mm·min−1: (a) three-dimensional figure; (b) x−y plane projection; (c) x−z plane projection; (d) y−z plane projection 250.10 250.10 150 50 −50 −100 −150300 350 400 450 500 550 600 0 100 250.05 250.00 249.95 249.90 200 100 −100 −200 300 400 500 600 0 250.08 250.06 250.04 250.02 250.00 249.98 249.96 249.94 600 550 500 450 Common control track PID control track End theory track 400 350 300 z/mm x/mm (c) (a) (b) 250.10 250.08 250.06 250.04 250.02 250.00 249.98 249.96 249.94 −150 −100 −50 0 50 100 150 z/mm y/mm y/mm x/mm x/mm z/mm y/mm (d) Common control track PID control track End theory track Common control track PID control track End theory track Common control track PID control track End theory track 图 8    进给速率为 10000 mm·min−1 时不同控制下末端的平面矩形跟踪轨迹对比图. （a）三维图；（b）x−y 平面投影；（c）x−z 平面投影；（d）y−z 平面投影 Fig.8    Comparison of the planar rectangular tracking tracks at ends under different controls at a feed rate of 10000 mm·min−1: (a) three-dimensional figure; (b) x−y plane projection; (c) x−z plane projection; (d) y−z plane projection 崔旭东等： 面向六关节机器人的位置域控制 · 251 ·