Backstepping在柔性关节机械手控制中应用研究  

Research on flexible-joint robot control based on backstepping

作　　者：谭雪松[1] 张延敏[1] 

机构地区：[1]四川农业大学信息与工程技术学院,延安625014

出　　处：《机械设计与制造》2010年第6期81-82,共2页Machinery Design & Manufacture

摘　　要：给出了柔性关节机械手的动力学模型,针对该模型,将反演算法引入机械手的运动控制中,设计了控制器及控制律,利用Lyapunov函数证明了系统的稳定。采用Adams与Simulink联合仿真的方法对单臂机械手进行运动仿真,通过实例表明,该方法在柔性关节机械手运动轨迹跟踪中具有一定的可行性。The dynamics model of flexible-joint robot had been published,for this model,the backstepping arithmetic had been proposed in the control of this model,and a controller and the control law had been designed,the stability of this model had been proved by Lyapunov.Adams and Simulink had been used as as an unite to emulate this model,the results show that,the proposed control strategy gives good tracking performance.

关 键 词：柔性 反演算法 联合仿真 轨迹跟踪 

分 类 号：TH12[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]