| 六自由度并联机器人线性化反馈RBF神经滑模控制研究 |
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| 引用本文： | 江道根,高国琴,胡红玉.六自由度并联机器人线性化反馈RBF神经滑模控制研究[J].机械设计与制造,2010(2). |
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| 作者姓名： | 江道根 高国琴 胡红玉 |
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| 作者单位： | 江苏大学电气信息工程学院,镇江,212013 |
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| 基金项目： | 江苏省自然科学基金项目(BK2009202);;镇江市工业科技攻关项目(GY2007006) |
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| 摘 要： | 采用分散控制的策略和线性化反馈RBF神经滑模的控制算法,实现了对六自由度并联机器人高精度自适应的轨迹跟踪控制。所设计的控制器实现了控制实时性和自适应性,有效抑制了滑动模态的抖振,仿真结果和实际实验均验证了此方案的实效性。
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| 关 键 词： | 并联机器人 RBF神经滑模控制 线性化反馈 自适应控制 |
The study on parallel robot of RBF netrual sliding controller |
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| JIANG Dao-gen,GAO Guo-qin,HU Hong-yu.The study on parallel robot of RBF netrual sliding controller[J].Machinery Design & Manufacture,2010(2). |
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| Authors: | JIANG Dao-gen GAO Guo-qin HU Hong-yu |
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| Affiliation: | Electronics School/a>;Jiangsu University/a>;Zhenjiang 212013/a>;China |
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| Abstract: | A distributed control strategy is used and the RBF neural feedback linearization sliding mode control algorithm is adapted,which achieve a six degree of freedom parallel robot for high-precision track of adaptive tracking control. The design of the controller realized the real-time controling and self-adaptive as well as effective suppression of the sliding mode of buffeting,The simulation results and actual experiments verify the effectiveness of this program. |
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| Keywords: | Parallel robot RBF neural sliding mode control Feedback linearization Adaptive control |
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