机器人操作器非线性平滑变结构控制算法及仿真

ALGORITHM AND SIMULATION WITH NONLINEAR SMOOTHING VARIABLE STRUCTURE CONTROL FOR ROBOT MANIPULATOR

摘要: 本文提出了非线性变结构滑模控制在平滑方面的改进方法．介绍了轨迹跟踪方法在机器人操作器点位控制和轨迹控制方面的应用．最后提出了改善终点位置静态偏差和节省控制能量的措施．

Abstract: This paper introduces an imprcvement method of smoothing performance for nonlinear variablestructure sliding mode control.It also presents implementation of trajectory following to robotmanipulator movement.Finally the paper presents measures to reduce static position error at the end pointof manipulator.