工业机器人的控制策略探讨  

Study on the Control Strategy in Industrial Robot

作　　者：罗璟[1] 赵克定[1] 陶湘厅[2] 袁锐波[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]昆明理工大学流体控制工程研究所,昆明650093

出　　处：《机床与液压》2008年第10期95-97,100,共4页Machine Tool & Hydraulics

摘　　要：概述了机器人的发展过程,总结了当前工业机器人的技术特点。介绍了几种在工业机器人技术中常用的控制策略,如变结构控制、自适应控制、鲁棒控制和智能控制等。分析了各种控制策略应用于工业机器人的具体体现,如变结构控制使控制带宽和控制精度达到最优折衷、自适应控制补偿参数不确定性、鲁棒控制补偿非参数不确定性、神经网络技术成功应用于各种机器人的运动规划、模糊控制简化控制算法等。探讨了工业机器人控制技术的发展趋势。The developing process of the robot was summarized and the technique characteristics of current industrial robot was generalized. Several common control strategies in industrial robot technique were introduced, such as variable structure control, adaptive control, robust control and intelligent control etc.. The application of various control strategies in industrial robot was analyzed, such as using variable structure control strategy to get a optimal compromise between bandwidth and accuracy; using adaptive control to realize a compensation to parameter uncertainty; using robust control to realize a compensation to non-parameter uncertainty; using the neural network strategy in the motion planning of various robot and using fuzzy control to simplify control algorithm etc.. The trend of development in industrial robot control technology was discussed.

关 键 词：工业机器人 控制策略 发展趋势 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]