机器人机械手的鲁棒性稳定跟踪控制

Robust Stable Tracking Control of Robotic Manipulators

为工业机器人机械手提出了一种稳定跟踪控制法．这种控制方法由前馈控制器、反馈控制器组成．前馈控制根据期望轨线用计算力矩法得到；反馈控制由线性ＰＩＤ控制项和非线性ＰＤ控制项组成，这种控制方法能使跟踪误差逐渐趋近于零．最后。

proposes a robust stable tracking control method for robotic manipulators. This control method consists of feedforward controller and feedback controller. Feedforward control is obtained by using computed torque method according to desired trajectory;feedback control consists of linear PID term and nonlinear PD term. This control method can guarantee that tracking errors converge to zero asymptotically.Finally,Computer simulations for PUMA 560 robot are given to show the effectiveness of this control method.