基于迭代学习算法的机械臂轨迹跟踪控制研究  

Research on Trajectory Tracking Control of Manipulator Based on Iterative Learning Algorithm

作　　者：李素芳 郑建立[1] Li Sufang;Zheng Jianli(School of Information Science and Technology,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学信息科学与技术学院,上海市201620

出　　处：《农业装备与车辆工程》2020年第12期56-60,共5页Agricultural Equipment & Vehicle Engineering

摘　　要：以SCARA机械臂为研究对象,对其进行了运动轨迹规划和动力学分析。针对SCARA机械臂的轨迹跟踪问题,提出了一种自适应迭代学习控制算法,使用复合能量函数法对所提出的算法进行了稳定性和收敛性分析,并将所提出的算法应用到SCARA机械臂的轨迹跟踪控制当中。使用MATLAB对所提出的算法进行仿真实验,仿真实验中使用的仿真模型是SCARA的动力学模型。仿真实验结果证明了所提出算法的有效性和可用性,针对带不同负载的机械臂动力学模型所进行的仿真实验得到的实验结果证明了所提出算法的鲁棒性和自适应性。The SCARA manipulator is taken as the research object,its motion trajectory planning and dynamic analysis are carried out.Aiming at the trajectory tracking problem of SCARA manipulator,we propose an adaptive iterative learning control algorithm.The compound energy function method is used to analyze the stability and convergence of the proposed algorithm.The proposed algorithm is applied to the trajectory tracking control of SCARA manipulator.We use MATLAB to perform the simulation experiment of the proposed algorithm.The simulation model used in the simulation experiment is the dynamic model of SCARA.The results of the simulation experiment prove the effectiveness and availability of the proposed algorithm.The experimental results obtained by the simulation experiments prove the robustness and adaptability of the proposed algorithm.

关 键 词：机械臂 自适应 迭代学习算法 轨迹跟踪 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]