| 机械臂轨迹跟踪控制的仿真 |
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| 引用本文： | 陈昱昆,钟映春,杨玲玲. 机械臂轨迹跟踪控制的仿真[J]. 计算机仿真, 2005, 22(11): 176-180 |
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| 作者姓名： | 陈昱昆 钟映春 杨玲玲 |
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| 作者单位： | 广东工业大学自动化学院,广东,广州,510090;广东工业大学自动化学院,广东,广州,510090;广东工业大学自动化学院,广东,广州,510090 |
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| 摘 要： | 该文详细讨论了刚性机械臂的动力学模型、轨道跟踪控制策略及其MATLAB的仿真.在成功建模的基础上,使用常规PD控制策略,非常好地完成了轨道跟踪控制任务.即使在模型未知的情况,仍然可以用PD直接控制跟踪目标轨迹.该文中运用了李亚普诺夫稳定性理论,对PD控制进行稳定性判定.通过对双机械臂和三机械臂的轨迹跟踪控制的MATLAB仿真,证明了控制策略的有效性.同时根据仿真结果的比较,对PD控制策略进行了鲁棒性的分析.分析结果为PD控制的鲁棒性会随着控制对象的自由度的增加而降低.
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| 关 键 词： | 机械臂 非线性控制 计算机仿真 比例-微分控制 轨迹跟踪控制 |
| 文章编号： | 1006-9348(2005)11-0176-05 |
| 修稿时间： | 2005-07-07 |
Simulation of Trajectory Tracking Control of Robot Manipulator System |
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| CHEN Yu-kun,ZHONG Ying-chun,YANG Ling-ling. Simulation of Trajectory Tracking Control of Robot Manipulator System[J]. Computer Simulation, 2005, 22(11): 176-180 |
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| Authors: | CHEN Yu-kun ZHONG Ying-chun YANG Ling-ling |
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| Abstract: | In this paper,the dynamic model of the rigid-link manipulator and the problem of stable trajectory tracking control of the rigid robot arm system are discussed in detail.The common PD scheme is used to perform well the task.Even if the dynamic model of the system is unknown,the tracking control of the system is still stable by using the direct PD control scheme.The stability of the PD control system is determined using Lyapunov stability theory.The MATLAB based simulation results of the two and three rigid-arms system prove that PD control schemes are effective.Besides,the robustness of the PD control system based on the simulation results is analyzed.The robustness of the control scheme would decrease when the number of links or the DOF increases. |
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| Keywords: | Robot manipulator Nonlinear control Computer simulation PD control Trajectory tracking control |
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