机器人的鲁棒轨迹跟踪控制系统

Robust LOCA Tracking Control System of Robot

用拉格朗日运动学建立机器人的动态模型.采用鲁棒控制法对两关节机械手的轨迹跟踪进行控制,仿真实验结果证明,鲁棒控制法对模型不精确或外部干扰对机器人产生的影响有很好的抑制作用,对机器人轨迹跟踪控制是有效的.

Uses Lagrangian coefficient to construct dynamic model of robot.Trajectory tracking of biped robot is controlled by robust control method.Simulation result proves that robust control method can effectively restrain the effect of imprecise model or external disturbance acting on robot,and the trajectory tracking control on robot is effective.