摘要
针对鲁棒控制在串联机器人轨迹跟踪控制性能较差以及自适应控制收敛性能有限、容易出现震荡和发散的现象,为了提高串联机器人的作业精度和效率,本文在辨识机器人模型参数的基础上,考虑机器人动力学及摩擦特性,并将自适应鲁棒控制的积分型的参数估计修改为比例积分型的参数估计,提出了改进自适应鲁棒控制算法。仿真验证表明:本文提出的改进自适应鲁棒控制算法提高了系统的稳态性能以及运动控制性能,实现了较高的轨迹跟踪精确度。
Robust control for robot trajectory tracking control in series of poor performance and limited convergence properties of adaptive control,prone to shocks and divergent phenomenon,in order to improve the accuracy and efficiency of the tandem operation of the robot,the robot based on the identification of the model parameters,considering dynamics and friction characteristics of robot,and the adaptive robust control integral parameter estimate was revised to a proportional-integral-type parameter estimation,an improved adaptive robust control algorithms is proposed.Simulation results show that：the proposed improvements adaptive robust control algorithm improves the steady-state performance and motion control performance of the system to achieve a high tracking accuracy.
出处
《中国农机化学报》
2016年第4期190-195,共6页
Journal of Chinese Agricultural Mechanization
基金
国家自然科学基金项目(51405419)
关键词
鲁棒控制
自适应控制
轨迹跟踪
串联机器人
robust control
adaptive control
trajectory tracking
series robot
