六自由度并联机器人线性化反馈RBF神经滑模控制研究

The study on parallel robot of RBF netrual sliding controller

采用分散控制的策略和线性化反馈RBF神经滑模的控制算法,实现了对六自由度并联机器人高精度自适应的轨迹跟踪控制。所设计的控制器实现了控制实时性和自适应性,有效抑制了滑动模态的抖振,仿真结果和实际实验均验证了此方案的实效性。

A distributed control strategy is used and the RBF neural feedback linearization sliding mode control algorithm is adapted,which achieve a six degree of freedom parallel robot for high-precision track of adaptive tracking control. The design of the controller realized the real-time controling and selfadaptive as well as effective suppression of the sliding mode of buffeting, The simulation results and actual experiments verify the effectiveness of this program.