机器人的一种鲁棒控制方法

通过对一个三自由度机械手分别采用PID和PDFSV控制 ,介绍PDFSV方法在机器人位置控制中的运用 .改变被控对象各阶系数和加阶跃和正弦干扰仿真 ,并对其进行理论分析 .结果表明 :该控制方法设计简单 ,响应速度快 ,且无超调 ,其控制形式适合机器人的需要 ,其良好的鲁棒性可以弥补机械手的非线性因素和关节间耦合作用 .只需位置、速度反馈信号就能完成对位置、速度和加速度的控制 .同时控制中计算量小也有利于其实际运用

A Robust Control Algorithm for Robot

In this paper ,by means of theory analysis and simulation, a control scheme called subvariable control of Pseudo-Derivative-Feedback is introduced to the manipulator control. PID and PDFSV control methods are applied to a three dimensional mechanical manipulator ,and the response curves analysis by means of differing parameter of controlled plant and under step load and sinusoidal form load indicates :this control method is simple in design with high speed response and no overshoot .Its control style is particularly suitable to the robot control ,Its excellent robust behavior is particularly satisfactory to the performance requirements of robots in industry,where nonlinear elements and joint-coupling exist .It is convenient for industrial use since it is free of tedious calculations position and velocity feedback ,we can achieve the full control over position ,velocity and acceleration. and meanwhile it has not big computational burden is benefit to practical use.