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本文提出了一种用于机械手轨迹跟踪的变结构控制方案,通过引入特殊的滑动状态误差修正项和模型偏差补偿项,控制系统对系统的参数变化及外部扰动具有了较强的鲁棒性。同时控制无抖动,本文的控制方案能实现高精度的快速轨迹跟踪,以PUMA—560机械手的前3个关节为例给出了仿真结果。
In this paper, a variable structure control scheme for manipulator trajectory tracking is proposed. By introducing special slip state error correction term and model deviation compensation term, the control system has strong robustness to system parameter changes and external disturbances. At the same time, no jitter is controlled. The control scheme in this paper can achieve high-precision fast track tracking. The simulation results are given by taking the first three joints of PUMA-560 robot as an example.