基于反步法的SCARA机器人轨迹跟踪控制  

Trajectory tracking control of SCARA robot via backstepping approach

作　　者：赵娜 吕成兴 ZHAO Na;LÜ Cheng-xing(National Engineering and Technological Research Center of Marine Monitoring Equipment, Shandong Provincial Key Laboratory of Ocean Environmental Monitoring Technology, Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), Qingdao 266033, China;School of Information and Control Engineering, Qingdao University of Technology, Qingdao 266000, China)

机构地区：[1]齐鲁工业大学(山东省科学院),山东省海洋仪器仪表研究所,山东省海洋环境监测技术重点实验室,国家海洋监测设备工程技术研究中心,山东青岛266033 [2]青岛理工大学信息与控制工程学院,山东青岛266000

出　　处：《山东科学》2021年第3期119-124,共6页Shandong Science

摘　　要：针对SCARA机器人轨迹跟踪问题,提出了一种基于反步法的轨迹跟踪控制方法。利用反步法设计控制器的虚拟控制和实际控制量,基于李雅普诺夫稳定理论设计的控制律能够实现对机器人的轨迹跟踪,并确保闭环系统为全局稳定。仿真结果验证了算法的有效性,所设计的跟踪闭环系统一致全局渐近稳定,有效提高了轨迹跟踪控制精度,保证了跟踪误差信号的收敛。In this paper,we propose a trajectory tracking control law based on backstepping approach for the SCARA robot.We design the virtual and actual control terms by employing the backstepping approach.Based on Lyapunov's stability theory,the designed control law can track the trajectory of the robot and ensure that the closed-loop system is globally stable.Simulation results verified the effectiveness of the designed algorithm.The closed-loop system is uniformly globally asymptotically stable,which effectively improves the accuracy performance of trajectory tracking and ensures the convergence of the tracking error signal.

关 键 词：SCARA机器人 反步设计 轨迹跟踪 非线性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]