6-DOF并联机器人分散变结构控制研究  

Decentralized Variable Structure Control for 6-DOF Parallel Robot

作　　者：陈卫东[1] 

机构地区：[1]燕山大学信息科学与工程学院,秦皇岛066004

出　　处：《燕山大学学报》2004年第3期224-227,共4页Journal of Yanshan University

基　　金：河北省教委科技攻关资助项目(No.A393)。

摘　　要：针对6-DOF并联机器人的非线性和强耦合特性,首先将机器人模型化为正则型,然后对每个子系统设计了变结构控制器,即构成分散变结构控制系统。该控制器实现了对系统的镇定和解耦。仿真结果证明了控制器的有效性。In this paper, a controller is designed aiming at the nonlinear and strong coupling on 6-DOF parallel robot. At first the robotic model is transferring into regularity form, and then variable structure controller is formulated to every subsystem, at the end a whole decentralized variable structure control system is constructed. This controller assuages and decouples the robotic system at the same time. Simulation is conducted to validate the feasibility of the controller.

关 键 词：并联机器人 分散变结构控制 镇定 解耦 仿真 6-DOF 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]