自适应鲁棒控制在机械臂轨迹跟踪中的应用

以仿人型机械臂为研究对象,针对常规PID控制器在机械臂轨迹跟踪控制中存在速度较缓慢、位姿误差较大的问题,设计了一种自适应鲁棒控制策略。利用SolidWorks进行机械臂结构的自主设计,根据所设计的机械臂参数进行控制器设计,利用Simulink建立机械臂控制系统模型,在直线和曲线两种运动目标轨迹下进行轨迹跟踪控制验证。实验结果表明,相对于常规控制器该自适应鲁棒控制方法可以更为准确地控制机械臂的末端轨迹,跟踪速度快且跟踪位姿准确,具有较好的可行性及可移植性。

Application of Adaptive Robust Control of the Manipulator Trajectory Tracking

Based on the humanoid manipulator as the research object,according to question of slow speed and pose errors in tracking control of manipulator trajectory by the conventional PID controller,a robust adaptive control strategy is designed in this paper.It makes use of SolidWorks to design the structure of mechanical arm,and the controller is designed according to the parameters of mechanical arm was designed,using Simulink to establish the manipulator control system model,and make trajectory tracking control verifications under straight and curved trajectory.The experimental results show that compared with the conventional controller,the adaptive robust control method can control the manipulator trajectory tracking more accurately,tracking faster and the position more accurately,it has good feasibility and portability.