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本文研究了存在扰动和参数不确定因素时机器人的轨迹跟踪控制问题.给出了一种鲁棒计算力矩控制方案,它由改进力矩发生器和鲁棒补偿器组成,该方案具有下述特点:①不依赖精确机器人模型;②容忍一定程度的计算误差。这给模型简化、减轻控制计算机运算负担、缩短运算时间提供了一条途径;③保证被控机器人具有渐近跟踪理想轨迹的能力.这些结论通过仿真实验已初步得到证实.
In this paper, we study the trajectory tracking control problem of robots in the presence of disturbances and uncertain parameters. A robust torque control scheme is proposed, which consists of an improved torque generator and a robust compensator. The proposed scheme has the following features: ① do not rely on accurate robot model; ② tolerate a certain degree of calculation error. This provides a way to simplify the model, reduce the burden on the computer control, and shorten the operation time.3) The guaranteed robots have the ability of asymptotic tracking of the ideal trajectory. These conclusions have been initially confirmed through simulation experiments.