工业机器人关节轨迹预定义时间滑模跟踪控制

Predefined-Time Sliding Mode Tracking Control for Industrial Robot Joints Trajectory

针对工业机器人关节轨迹跟踪控制问题,设计了一种新型预定义时间滑模轨迹跟踪控制器。首先,通过分析工业机器人关节传动机构,建立了由永磁同步电机驱动的关节运动模型;然后,设计预定义时间滑模轨迹跟踪控制器,并对控制器的非奇异性和预定义时间收敛性进行分析,确保轨迹跟踪误差能够在预定义时间内完成收敛;最后,在工业机器人上进行实验,结果表明,所设计的控制器具有良好的轨迹跟踪性能,并能保证跟踪误差在预定义时间内收敛。

For the joint trajectory tracking control problem of industrial robots,a novel predefined-time sliding mode trajectory tracking controller is designed.First,by analyzing the joint transmission mechanism of the industrial robot,the joint motion model driven by the permanent magnet synchronous motor is established.Then,a predefined time sliding mode trajectory tracking controller is designed,and the non-singularity and predefined time convergence of the controller are analyzed to ensure that the trajectory tracking error can be converged within a predefined time.Finally,experiments are carried out on industrial robots,and the results show that the designed controller has good trajectory tracking performance and can ensure that the tracking error converges within a predefined time.