一类特殊应用领域机器人控制策略的研究

Research of a class of robotic control strategy in special applied area

详细地分析了现代工业机器人运动过程中存在的高控制增益、慢响应速度等缺点;然后,基于改进的双曲正切滤波函数给出了实现机器人低增益、快速和高精度的一类控制策略。方法设计合理,简单易行。

In this article, the kinetic deficiency of modern industrial robot is analyzed where indicatesits high control amplitude, slow response, etc.; and then, based on reformed hyperbolictangent filtering function, a class of robotic control strategy is presented which showslower control amplitude, rapid tracking and high precision. The way is reasonable andsimple to practice.