三自由度并联机器人的轨迹跟踪滑模控制  

Trajectory tracking sliding mode control for a 3-DOF parallel robot

作　　者：李文凯 张寒莉 储青 LI Wenkai;ZHANG Hanli;CHU Qing(College of Health Sciences and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093

出　　处：《智能计算机与应用》2024年第8期48-53,共6页Intelligent Computer and Applications

摘　　要：为了提高并联机器人在有干扰或者模型不确定情况下的工作性能,本文设计了一种模糊自适应滑模控制方法,并将其应用于平面3-PRR并联机器人的轨迹跟踪控制中。首先,采用解析法对机器人进行了运动学分析,并基于虚功原理法建立了其动力学模型;其次,改进了滑模趋近率以提高误差收敛速度,同时利用滑模变量设计了模糊控制器,动态调节滑模控制自适应项的增益,以消除抖振并提高控制精度。最后利用Simulink对同一轨迹进行了仿真实验,并应用不同的控制方法进行了比较。仿真结果表明,所提控制方法在不同的干扰下,轨迹跟踪误差更小,抗干扰能力更强,对于三自由度平面并联机器人的位置控制非常有效。In order to improve the working performance of parallel robots under the presence of disturbances or model uncertainties,this paper proposes a fuzzy adaptive sliding mode control method and applies it to the trajectory tracking control of a planar 3-PRR parallel robot.Firstly,the kinematics analysis of the robot is carried out using the analytical method,and its dynamic model is established based on the principle of virtual work.Secondly,the sliding mode reaching rate is improved to enhance the convergence speed of error,and a fuzzy controller is designed based on sliding mode variables to dynamically adjust the gain of the sliding mode control adaptive term in order to eliminate chattering and improve control accuracy.Finally,Simulink is used to perform simulation experiments on the same trajectory and different control methods are compared.The simulation results show that the proposed control method has smaller trajectory tracking error and stronger disturbance rejection ability under different disturbances,and it is very effective for position control of 3-DOF planar parallel robot.

关 键 词：平面并联机器人 虚功原理 滑模控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]