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.