工业机器人关节轨迹预定义时间滑模跟踪控制  

Predefined-Time Sliding Mode Tracking Control for Industrial Robot Joints Trajectory

作　　者：刘宜成[1] 杨海鑫 严文 LIU Yicheng;YANG Haixin;YAN Wen(College of Electrical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学电气工程学院,成都610065

出　　处：《组合机床与自动化加工技术》2023年第9期68-71,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：四川省智能制造与机器人重大科技专项项目(2019ZDZX0019)。

摘　　要：针对工业机器人关节轨迹跟踪控制问题,设计了一种新型预定义时间滑模轨迹跟踪控制器。首先,通过分析工业机器人关节传动机构,建立了由永磁同步电机驱动的关节运动模型;然后,设计预定义时间滑模轨迹跟踪控制器,并对控制器的非奇异性和预定义时间收敛性进行分析,确保轨迹跟踪误差能够在预定义时间内完成收敛;最后,在工业机器人上进行实验,结果表明,所设计的控制器具有良好的轨迹跟踪性能,并能保证跟踪误差在预定义时间内收敛。For the joint trajectory tracking control problem of industrial robots,a novel predefined-time sliding mode trajectory tracking controller is designed.First,by analyzing the joint transmission mechanism of the industrial robot,the joint motion model driven by the permanent magnet synchronous motor is established.Then,a predefined time sliding mode trajectory tracking controller is designed,and the non-singularity and predefined time convergence of the controller are analyzed to ensure that the trajectory tracking error can be converged within a predefined time.Finally,experiments are carried out on industrial robots,and the results show that the designed controller has good trajectory tracking performance and can ensure that the tracking error converges within a predefined time.

关 键 词：工业机器人 关节控制 轨迹跟踪 预定义时间滑模 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]