摘要
并联机器人具有刚度大、承载能力强、误差小等特点,针对以交流伺服电机驱动的并联机器人机构——GPM-200并联机构,建立了控制系统模型,并在其工作空间中进行了轨迹规划,而后设计了一种动态滑模控制算法,在Matlab/Simulink上进行了仿真实验,结果表明:该算法鲁棒性好,且系统抗干扰能力强,对系统参数变化不敏感,具有良好的跟踪性能,实现了对该并联机器人的高精度实时控制。
Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with AC servo-motor drive--GPM-200 parallel mechanism, a model of controlling system was established, and a track planning in its working space has been carried out, After that a kind of dynamic sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm is good in robustness, strong in anti-interference ability of the system, not sensitive to the variation of systematic parameters and possesses nice following-up property, thus achieved high precision real-time control on this parallel robot.
出处
《机械设计》
CSCD
北大核心
2007年第5期9-11,共3页
Journal of Machine Design
基金
国家自然科学基金资助项目(50375067)
江苏省教育厅资助项目(03KJD510072)
