基于计算力矩法的四关节机械手滑模控制研究  

Sliding Mode Control of Four-joint Manipulator Based on Computational Torque Method

作　　者：闫璟 王梅[1] 程新宇 

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《工业控制计算机》2023年第7期7-9,共3页Industrial Control Computer

摘　　要：为降低建模动态误差与总体干扰对机器人控制系统的影响,采用基于计算力矩法滑模变结构控制系统对机械手进行控制。在分析经典的原趋近率的基础上,提出了一种改进型指数趋近率,并对其进行仿真分析。结果表明,该改进型指数趋近率搭建的滑模控制器能够抑制系统抖振,实现机械臂的运动稳定。To reduce the influence of modeling dynamic error and overall disturbance on the robot control system,a sliding mode variable structure control system based on the computational torque method is adopted to control the manipulator.An improved exponential approach rate is proposed in this paper and simulated based on the analysis of the classical original approach rate.The results show that the sliding mode controller based on the improved exponential approach rate can achieve the motion stability of the manipulator.

关 键 词：计算力矩法 比例-微分(PD)控制 滑模控制 四自由度机械手 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]