基于迭代学习的金属加工机器人积分滑模控制算法

Integral Sliding mode Control Algorithm for Metal Working Robot Based on Iterative Learning

通过对金属加工机器人的优化控制设计,提高金属精加工的性能和精准度。提出一种基于自适应迭代学习的金属加工机器人积分滑模控制算法。首先构建金属加工机器人的控制参量模型和控制稳定性判别模型,在六自由度机器人动作空间内进行机器人滑膜积分控制,采用自适应迭代学习方法进行控制误差拟合跟踪,保障控制误差收敛到零,提高控制精度。仿真结果表明,该控制算法的收敛性好,鲁棒性较高。

Through the optimization control design of metal processing robot, improve the performance and precision of metal finishing. An adaptive sliding mode control algorithm for metal processing robot based on adaptive iterative learning is proposed. First constructed discriminant model for metal processing robot control parameter model and control stability. In the six degree of freedom robot action space of robot synovial integral control, using adaptive iterative learning method of fitting error tracking control, security control error converges to zero, to improve the control precision. The simulation results show that the algorithm has good convergence and high robustness.