机械手的离散滑动模控制器设计(英文)

The Discrete-Time Controller Design Based on Sliding Mode for Manipulators

本文针对机器人系统的计算机控制问题,将带有边界层的滑动模控制器设计方法推广到了离散系统。本文研究了采样周期对系统性能的影响并给出其选择方法,为进一步提高跟随精度,本文提出了一种新的补偿方法。最后,本文提出方法的有效性和优越性在PUMA560六自由度机械手的数字仿真中获得验证。

In this paper,the design approach of the sliding mode tracking controller with boundary layer in [1] is developed in discrete-time systems for the computer control of robots.This paper also deals with the effect of sampling interval on system performance,proposes a new compensation method for further improving the tracking precision,and a method for sampling interval selection is given.Finally,the effectiveness and good performance of the proposed design approach is examined through the six degrees of freedom Arm PUMA560 with digital simulations.