【摘 要】
：
本文针对操作器的工作空间坐标下轨线跟踪,提出了直接利用跟踪误差进行规划和控制的设计方案.这一规划方案基于速度矢量的线性合成原理.同时借助于定义一个偏差超平面,利用滑
【机 构】
：
西安交通大学信息与控制系,西安交通大学信息与控制系,西安交通大学信息与控制系
论文部分内容阅读
本文针对操作器的工作空间坐标下轨线跟踪,提出了直接利用跟踪误差进行规划和控制的设计方案.这一规划方案基于速度矢量的线性合成原理.同时借助于定义一个偏差超平面,利用滑动模控制的思想,将原非线性规划问题转化为线性规划问题,特别适用于具有冗余自由度的操作器,并且不再要求操作器参数、定位等非常精确;而这一控制方案将规划过程统一于控制器之中,直接对跟踪误差进行控制,可以得到更加优秀的外部品质.
In this paper, aiming at the trajectory tracking under the working space coordinates of the manipulator, a design scheme of direct planning and control using tracking error is proposed.This planning scheme is based on the principle of linear combination of velocity vectors.At the same time, by defining a deviation hyperplane, The idea of modulo control transforms the original nonlinear programming problem into a linear programming problem, which is especially suitable for manipulators with redundant degrees of freedom. The manipulator parameters and positioning are no longer required to be very accurate. However, this control scheme integrates the planning process Uniform in the controller, the direct tracking error control, you can get more excellent external quality.
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