滑动控制理论在机器人运动轨迹控制中的应用

APPLICATION OF SLIDING CONTROL THEORY TO TRAJECTORY TRACKING CONTROL OF ROBOT MANIPULATORS

  • 摘要: 本文提供了滑动控制理论在机械手运动轨迹控制中的最新研究成果,对具有线性插入的滑动控制方法的实际应用进行了有意义的研究和探索.实验结果表明,滑动控制方法对机械手运动轨迹的控制有较强的实际意义.

     

    Abstract: New results are presented on the trajectory tracking control of robot manipulators using the sliding control theory.In particular,this paper makes significant development and exploration in applying the sliding control method with a linear in terpolation to the trajectory control of robot manipulators.Experimental results show that the sliding control method is practical in controlling the moving trajectory of robot manipulators.

     

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