| 基于迭代学习控制律的五自由度机械臂研制 |
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| 引用本文： | 王振玉,杨斌. 基于迭代学习控制律的五自由度机械臂研制[J]. 机械与电子, 2016, 0(3): 72-74,80 |
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| 作者姓名： | 王振玉 杨斌 |
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| 作者单位： | (成都理工大学工程技术学院，四川 乐山 614007) |
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| 摘 要： | 研制了五自由度机械臂，其采用一个三轴悬臂机构外加一个腕关节机构，实现了三维空间的五自由度运动。通过三轴悬臂机构使外部器械在三维空间内实现运动，通过腕关节机构精确调整外部器械的姿态；在自动控制方面，运用了一种迭代学习控制算法设计控制器，使五自由度机械臂获得满意的轨迹跟踪控制效果，并能够实现在监控下的远程操作过程。
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| 关 键 词： | 五自由度机械臂 研制 迭代学习 拉格朗日方程 |
Design for a Five-degree of Freedom Manipulator Based onIterative Learning Control Law |
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| WANG Zhenyu,YANG Bin. Design for a Five-degree of Freedom Manipulator Based onIterative Learning Control Law[J]. Machinery & Electronics, 2016, 0(3): 72-74,80 |
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| Authors: | WANG Zhenyu YANG Bin |
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| Affiliation: | （The Engineering and Technical College of Chendu University of Technology, Leshan 614007，China） |
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| Abstract: | The five-degree of freedom manipulator is composed of a three axis cantilever mechanism and a wrist joint mechanism. It achieves five degrees of freedom movement in three-dimensional space movement. The movement of the external instrument is controlled by the wrist joint mechanism precisely. In term of automatic control, an iterative learning control algorithm is applied to obtain better trajectory tracking control effect and achieve remote operation process. |
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| Keywords: | five-degree of freedom manipulator design iterative learning Lagrange equation |
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