同向滑杆并联机构的模糊自适应滑模控制

Fuzzy-Adaptive Sliding Mode Control for the Parallel Mechanism with the Same Direction Sliding Bar

为减少机器人在快递件的分拣与包装时的轨迹跟踪误差,以同向滑杆支链3-PUPU并联机器人为研究对象,首先,建立机器人的运动学方程和拉格朗日动力学方程;其次,建立以模糊自适应算法为基础的滑模控制器;最后,在MATLAB中建立系统仿真框图和实验平台,对机构的轨迹跟踪误差进行仿真分析和实验研究。研究表明,模糊自适应滑模变结构控制的轨迹跟踪具有精度高、稳态误差小以及鲁棒性强的特点,从而对快递的精准分拣与包装是有效的,为该机构的实践应用提供了可靠依据并奠定了重要基础。

In order to reduce the trajectory tracking error of the robot in the sorting and packaging of express mail,the 3-PUPU parallel robot with the same direction sliding rod is taken as the research object.Firstly,the kinematics equation and Lagrange dynamics equation of the robot are established;Secondly,a sliding mode controller based on fuzzy adaptive algorithm is established;Finally,the system simulation block diagram and experimental platform are established in MATLAB to simulate and analyze the trajectory tracking error of the mechanism.The research shows that the trajectory tracking of fuzzy adaptive sliding mode variable structure control has the characteristics of high precision,small steady-state error and strong robustness,which is effective for the accurate sorting and packaging of express delivery.It provides a reliable basis and lays an important foundation for the practical application of the mechanism.