摘要
针对6-DOF并联机器人的非线性和强耦合特性,首先将机器人模型化为正则型,然后对每个子系统设计了变结构控制器,即构成分散变结构控制系统。该控制器实现了对系统的镇定和解耦。仿真结果证明了控制器的有效性。
In this paper, a controller is designed aiming at the nonlinear and strong coupling on 6-DOF parallel robot. At first the robotic model is transferring into regularity form, and then variable structure controller is formulated to every subsystem, at the end a whole decentralized variable structure control system is constructed. This controller assuages and decouples the robotic system at the same time. Simulation is conducted to validate the feasibility of the controller.
出处
《燕山大学学报》
CAS
2004年第3期224-227,共4页
Journal of Yanshan University
基金
河北省教委科技攻关资助项目(No.A393)。
