王洪瑞, 侯增广, 宋维公. 并联机器人轨迹跟踪变结构控制的研究[J]. 机器人, 1995, 17(2): 65-69.
引用本文: 王洪瑞, 侯增广, 宋维公. 并联机器人轨迹跟踪变结构控制的研究[J]. 机器人, 1995, 17(2): 65-69.
WANG Hongrui, HOU Zenggtiang, SONG Weigong. STUDY ON THE TRAJECTORY FOLLOWING OF A PARALLEL ROBOT USING VARIABLE STRUCTURE CONTROL[J]. ROBOT, 1995, 17(2): 65-69.
Citation: WANG Hongrui, HOU Zenggtiang, SONG Weigong. STUDY ON THE TRAJECTORY FOLLOWING OF A PARALLEL ROBOT USING VARIABLE STRUCTURE CONTROL[J]. ROBOT, 1995, 17(2): 65-69.

并联机器人轨迹跟踪变结构控制的研究

STUDY ON THE TRAJECTORY FOLLOWING OF A PARALLEL ROBOT USING VARIABLE STRUCTURE CONTROL

  • 摘要: 本文根据并联机器人控制的特点,将离散变结构理论应用于并联机器人的轨迹控制,引进了离散趋近律的概念,给出了实用的离散变结构控制算法.仿真结果表明,该方法对并联机器人轨迹跟踪具有良好的控制效果.

     

    Abstract: Based on the control characteristic of the parallel robot,the paper applies the discrete variable structure control theory to the robot trajectory control.A discrete approaching law is introduced and a practi-cal discrete variable structure algorithm is presented.The simulation result demonstrates the method's feasi-bility.

     

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