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提出了一种新的机器人轨迹跟踪的控制方法,把变结构控制(VSC)理论应用到机器人伺服系统的自控式同步机(SCSM)上。这种方法不仅有效地限制伺服系统电流的高频振荡,平滑机器人操作器位置和速度运动轨线,而且算法简单,计算机容易实现,以及能使伺服系统的控制误差收缩到特定的区域内。应用了上述方法的机器人全局系统对于内部参数的变化和外部负载力矩的扰动都是不敏感的,具有较强的鲁棒性。
A new control method of robot trajectory tracking is proposed. The theory of variable structure control (VSC) is applied to self-control synchronous machine (SCSM) of robotic servo system. This method not only effectively limits the high-frequency oscillation of the servo current, smoothes the position of the robot manipulator and the trajectory of the velocity, but also has a simple algorithm, a computer is easy to implement, and the control error of the servo system can be shrunk to a specific area. The global system of robot applied the above method is insensitive to the change of internal parameters and disturbance of external load torque, and has strong robustness.