摘要
为了提高并联机器人的轨迹跟踪控制精度,以平面二自由度并联机器人为研究对象,构建了一种可拓自适应控制器用于其控制系统中.利用自适应控制器善于处理不变和慢时变问题,可拓控制器善于处理时变和突变问题,将2种控制器的优点结合起来,设计了一种新型的可拓自适应控制器.仿真结果表明,可拓自适应控制器能较大地提高并联机器人关节位置精度和末端执行器的轨迹精度,能够满足机器人的控制要求.研究所得的方法和结论具有较强的通用性,对并联机器人的控制具有普遍的应用意义.
To improve the parallel robot trajectory tracking control precision,a 2D plane parallel robot was studied as the research object and a kind of extension controller used for the control system was established.Seeing properties that the adaptive controller is good at dealing with the same and slowly time-varying problem and extension controller is good at dealing with time-varying and mutation problem,the advantages of the two kinds of controllers were combined and a new type of extension adaptive controller was developed.The simulation results show that the extension adaptive controller can greatly improve joints position precision and end implementation tracking precision of the parallel robot and can satisfy the the robot control requirements.The methods and results put forward are general and have broad prospect in application of the parallel robot control.
出处
《工程设计学报》
CSCD
北大核心
2012年第1期53-56,共4页
Chinese Journal of Engineering Design
