工业机器人鲁棒自适应PD控制的可行性研究

Feasibility of Industrial Robot Robust Adaptive PD Control Research

以HA006型工业机器人为例,针对常规的非线性PD控制器在应用中存在输出力矩较大的问题,提出了将鲁棒自适应PD控制策略应用于HA006型工业机器人实际控制的解决方案,并通过利用ADAMS/control和MATLAB/Simulink模块建立起的机器人联合控制系统仿真进行验证。当输入正弦指令时,跟踪信号与输入的正弦信号之间仅有较小的延时,可以较为准确地控制机器人的末端轨迹。仿真结果表明:建立的工业机器人联合控制系统具有良好的轨迹跟踪能力,证明了机器人的鲁棒自适应PD控制方法对HA006型工业机器人控制是可行的。

HA006type industrial robots,for example,in view of the conventional nonlinear PD controller output large torque problems in the application,the robust adaptive PD control strategy was applied to HA006 type industrial robot control solution,and by use of ADAMS/control and MATLAB/Simulink module robot joint control system set up for validation.When system input sine directive,tracking signal has a small delay,and the system can more accurately control the trajectory of the robot.The simulation results show that the established industrial robot joint trajectory tracking control system has a good ability,proved that the robot robust adaptive PD control method of HA006 type industrial robot control is feasible.