【摘要】 针对焊接机器人不确定性系统的特点,进行了非奇异Terminal滑模控制系统研究。建立了焊接机器人动态模型;确定了控制系统的硬件结构,并在此基础上探讨了系统非奇异Terminal滑模控制的基本原理。最后,结合实例对焊接机器人非奇异Terminal滑模控制系统进行了数值仿真。结果表明,该控制系统的自适应性强,精度高,误差可以快速收敛到0。更多还原

【Abstract】 According to the feature of uncertain control system of the welding robot,the study on the non-singular Terminal sliding mode control system is carried out.First,the dynamic model of welding robot is established;then,the hardware structure of the control system is designed based on the non-singular Terminal sliding mode control system;in addition,the basic principle of the non-singular Terminal sliding mode control system is discussed.Finally,combined with instances,the numerical simulation of the control system is demonstrated.The results indicate that the control system is strong in adaptivity,high in accuracy,and the error can be converged to zero very quickly.更多还原