3-RPC型并联机器人模糊滑模轨迹跟踪控制研究  

Study on Fuzzy Sliding Mode Trajectory Tracking Control of 3-RPC Type Parallel Robot

作　　者：刘运鸿 安梓铭 李雅琼 朱大昌 

机构地区：[1]江西玖发新能源汽车有限公司,江西赣州341000

出　　处：《机床与液压》2015年第9期21-23,27,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51165009);江西省自然科学基金资助项目(20114BAB206008)

摘　　要：分析了直流伺服电机驱动的3-RPC并联机器人的运动学反解,并对其进行了轨迹规划;设计了传统滑模控制及模糊滑模控制,建立了仿真模型,并完成了各支路的期望运动的轨迹跟踪。仿真结果表明:模糊自适应增益滑模控制比传统滑模控制精度更高,响应时间明显更快,更能有效地消弱控制中带来的抖振现象。DC servo motor driven parallel robot inverse kinematics solution of 3-RPC was analyzed. Its trajectory planning was done. The conventional sliding mode control and fuzzy sliding mode control were designed,and simulation model was established. Moreover the desired motion of trajectory tracking of each branch was completed. Simulation results show that the gain sliding mode control with adaptive fuzzy sliding mode control has higher accuracy than the traditional one,response time is significantly faster,and more effective in weakening the chattering phenomena in control.

关 键 词：3-RPC型并联机器人 驱动位移轨迹跟踪 模糊滑模变结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]