指数趋近律在冶金机器人机械臂轨迹跟踪中的应用研究

Application of exponential reaching law in trajectory tracking of metallurgical robot manipulator

趋近律是变结构控制的一种常用方法,本文分析了指数趋近律的优缺点,结合冶金机器人机械臂的运转方式,推导出了一种运用于工业现场的离散趋近律。该趋近律不仅使冶金机器人机械臂在出现故障时可以改变路径,并且安全回到零点,而且把故障点看作干扰点可以进行过滤,达到系统安全和优化的目的。

The reaching law is a common method of variable structure control.This paper analyses the advantages and disadvantages of the exponential reaching law,and deduces a discrete reaching law applied to industrial field combined with the operation mode of the metallurgical robot arm.The reaching law not only enables the metallurgical robot manipulator to change its path when it fails,but also to return to zero safely.The failure point can be filtered as interference point to achieve the purpose of system safety and optimization.