深孔管壁喷涂机械手的鲁棒跟踪控制方法

Robust Trajectory Tracking Control for Automatic Painting Robot Manipulator

针对适用于长且变截面的4自由度管道喷漆机械手,为了保证它的跟踪精度,设计了一种鲁棒轨迹跟踪控制器,保证了跟踪误差的一致终值有界.最后,通过模拟仿真对所提出的控制方案与比例积分微分(PID)控制方案进行了比较,结果表明鲁棒轨迹跟踪控制具有更高的跟踪精度和稳定性.

Aimed at painting long and variable section pipe, a four degrees of freedom (DoF) painting manipulator is firstly designed. In order to ensure the precision, a robust controller is also adopted in this paper. This controller can guarantee that the tracking errors are uniformly and ultimately bounded. Finally the robust control law and the proportional,integral and derivative (PID) control law are compared, which shows that the former is of high tracking precision and stability.