【摘要】 本文将逆系统和函数信号复现技术同自适应控制技术相结合,针对多关节型工业机器人系统,提出了一种新的自适应轨迹跟踪控制方案。仿真实验表明,在迪卡尔坐标空间(或关节坐标空间)中,机器人的终端执行器(或关节)能快速高情度跟踪所规划的运动轨迹,机器人结构参数和抓举负载的大范围变化对工作性能的影响很小,保证了整个系统的稳定性。更多还原

【Abstract】 A self-adaptive trajectory-tracking control scheme for robotic manipulators is proposed based on both the inverse system and the function signal reproducing and adaptive control techniques. Numerical simulation resulatts on a PUMA-600 robot show that the end effector (or joints) of the manipulator can quickly track the trajectory planned in Cartesian coordinates (or joint coordinates) system with acceptable accuracy. The tracking performance is hardly affected by wide-range variation of robot parameters and payload, thus guaranteeing the stability of the closed loop system as a whole.更多还原