机械手轨迹控制在自适应滑动模下的微机实现(英文)

Microprocessor—Based Trajectory Control of Robot Manipulator Using Adaptive Sliding Mode

本文针对具有两个回转关节的机械手,实现了自适应滑动模控制方法,试验结果证实了系统的良好跟踪性能和鲁棒性能。

This paper demonstrates the approach of implementing the adaptive sliding mode control algorithm on a two-link revolute joint manipulator. Experiment results show the validity of accurate tracking capability and robust performance of the system.