摘要
针对多关节机械手的不精确动力学模型导致计算力矩法控制的鲁棒性差和不能实现全局渐进稳定的问题,以一种七自由度机械手为研究对象,采用计算力矩加自适应模糊补偿控制,通过ADAMS与MATLAB联合仿真进行机械手轨迹跟踪控制研究,并证明了系统的稳定性和误差的收敛性。仿真结果表明:利用该方案控制的七自由度机械手具有较好的轨迹跟踪特性,无须机器手精确的动力学模型。
Taking a 7 degrees-of-freedom （DOF） manipulator as an object, using a combination of computed torque control and fuzzy logic adaptive compensation, a novel approach of the track following control by ADAMS and MATLAB was presented, which was to solve the problem that the traditional computed torque control was undesirable robustness when the dynamical model of manipulator was uncertain. The simulation results show that the 7-DOF manipulator has better tracking performance by the proposed scheme.
出处
《机床与液压》
北大核心
2012年第23期73-75,85,共4页
Machine Tool & Hydraulics
关键词
模糊控制
计算力矩控制
轨迹跟踪
机械手
Fuzzy control
Computed torque control
Track following
Robotic manipulator
