并联机器人动态滑模轨迹跟踪控制研究  

Study on trajectory tracking of parallel robots using dynamic variable structure

作　　者：宁珍珍[1] 高国琴[1] 董超君[1] 

机构地区：[1]江苏大学电气信息学院,镇江202013

出　　处：《机械设计与制造》2008年第11期173-175,共3页Machinery Design & Manufacture

基　　金：镇江市工业科技攻关项目(GY2007006)

摘　　要：并联机器人是机器人研究与应用的重要部分,它具有刚度大、承载能力强、位置误差不积累等一系列优点,但它本身高度的非线性和强耦合性,使对其精确控制极为困难。针对以交流伺服电机驱动的六自由度并联机器人机构,分析了其运动学逆解,进行了轨迹规划,设计了动态滑模变结构控制算法,建立了机器人支路的仿真模型,完成了对支路的期望运动轨迹的跟踪。仿真结果表明该算法系统抗干扰能力强,具有快速有效跟踪期望轨迹的优良性能。Parallel robots are the important part in research and application of the robot and have the advantages of high rigidity,high burden capacity,no accumulation of positional and so on,however,it＇s hard to be controlled accurately because of it＇s nonlinear and strong coupling. It aims at the 6-DOF parallel robot which is driven by servo AC motor,analyzing the inverse kinematics ,carrying on the trajectory tracking in its work space,designing the dynamic variable structure control algorithm,building up the simulation model of spur track and completing the desired trajectory following. The simulation results showed the stability and fast tracking peorormances of the control law.

关 键 词：态滑模变结构 运动学反解 六自由度并联机器人 轨迹跟踪 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]