一种新的机械手变结构控制方案

A New Scheme of Variable Structure Control for a Manipulator

本文提出了一种用于机械手轨迹跟踪的变结构控制方案,通过引入特殊的滑动状态误差修正项和模型偏差补偿项,控制系统对系统的参数变化及外部扰动具有了较强的鲁棒性。同时控制无抖动,本文的控制方案能实现高精度的快速轨迹跟踪,以PUMA—560机械手的前3个关节为例给出了仿真结果。

A variable structure control scheme for a manipulator to track a desired trajectory is pres-ented in this paper.By introducing specific state-error correction and model-deviation compensation terms, the control system is made robust to system parameter variations and external disturbances. In the meantime,the chattering phenomenon is avoided.The high precision trajectory tracking can be performed by the proposed control scheme.The simulation results for the first three joints of PUMA-560 are presented. manipulators; trajsctory tracking; variable structure control