机器人控制算法的理论与实验研究

Theoretical & Experimental Research of Robot Control Algorithm

本文总结了我们多年来从事机器人控制算法的理论与实验研究成果。这些控制算法主要包括了滑动模控制、速度信号观测、非线性滑动面、鲁捧控制器、工作空间控制等,它们都已在我们研究开发的JJR-1型机器人和DDArm直接驱动机器人上得到验证。我们还分别在JJR-1型机器人和DDArm上开发了可编程数字控制器,为使用者提供了研究控制算法的环境,通过实验也进一步证明我们所研究的控制算法的有效性和可行性。

This paper summarizes our theoretical & experimental research results about robot control algorithms. These algorithms include sliding mode control, velocity observer, nonlinear sliding surface, robust controller, and control in the task space etc. They have been realized on JJR-1 robot & DD arm developed by us. We implemented JJR-1 & DD arm with programmable digital controller, which provides the tool for user to develop his own algorithm. Experiments demonstrate the merits & feasibility of our control algorithms.