基于模型预测控制的喷涂机器人协调控制策略

Coordinated Control Strategy of Painting Robot Based on Model Predictive Control

为了能够提高喷涂机器人控制的品质,深入地研究了模型预测控制技术在其中的应用。首先,研究了模型预测控制的数学模型;接着,分析了喷涂机器人的动力学模型;然后,进行了喷涂机器人模型预测控制器的设计;最后,进行了仿真分析,仿真结果表明该方法具有较好的控制效果。

In order to improve the quality of controlling painting robot,the application of model predictive control on it was studied in depth.Firstly,themathematical model of model predictive control was studied;and then the dynamical model of painting robot was analyzed,and then the model predictive controller was designed,and finally the simulation analysis was carried out,and results showed that this method had better controlling effect.