摘要
针对机器人的动态模型,提出一种自适应控制方法,它不但可以消除参数不确定和各关节之间的耦合作用,而且也保证了整个系统的收敛性。整个控制器分为两部分:一是常规控制,用于将机器人的实际运动轨迹控制在期望轨迹的某一邻域、一是自适应控制,用于清除伺误差,并强迫实际运动以渐近方式趋于期望轨迹。计算机仿真的结果用来讨论了在不同环境条件下的系统性能。
Presents a new adaptive control scheme for the robot.It compensates for the effects of coupling,parameter uncertainty and nonlinearity and ensures the convergence of the whole system as well.The controller is divided into two categories. Conventional control which ensures that the robot path trajectory will be in the neighborhood of the desired trajectory; adaptive control which eleminates the servo-errors and forces the trajectory to approach the desired trajectory.The computer simulation results are used to estimate and compare the performance of the robot under different conditions.
关键词
工业机器人
自适应控制
摄动法
Industrial robot
Adaptive control
Peterbation method
Model reference adaptive control (MRAC)
