摘要
针对工业机械手的轨迹跟踪问题,设计了一种鲁棒自适应PD控制策略,避免了初始输出力矩过大的弊端。考虑将控制器分为非线性补偿控制和PD反馈控制两部分,机械手的不确定动力学部分由回归矩阵构成的自适应控制器进行补偿,实现了对机械手的运动控制。通过计算机仿真结果验证了所提出控制策略的有效性,能够很好地跟踪期望轨迹。
Aiming at the trajectory tracking of the robot manipulator,a robust adaptive PD control strategy for robot manipulators is proposed.The drawback of the initial output torque oversize is avoided.Considering that the controller consists of non-linear compensation control and PD feedback control,uncertain dynamic of the robot manipulator is compensated by the adaptive controller,which constituted by regression matrix,the motion control of manipulator is realized.The effect of control strategy is verified by the computer simulation results,and could accurately track the desired trajectory.
出处
《机械传动》
CSCD
北大核心
2011年第11期34-36,40,共4页
Journal of Mechanical Transmission
关键词
机械手
自适应控制
轨迹跟踪
Robot manipulator Adaptive control Trajectory tracking
