工程设计学报2012，Vol.19Issue(1)：53-56,4.DOI:10.3785/j.issn.1006-754X.2012.01.011
基于可拓自适应理论的三轴并联机器人控制系统设计
Three axis parallel robot control system design based on the extension adaptive theory
马明智 1芮延年 1张飞 1乔冬冬1
作者信息
- 1. 苏州大学机电工程学院,江苏苏州215021
- 折叠
摘要
Abstract
To improve the parallel robot trajectory tracking control precision, a 2D plane parallel robot was studied as the research object and a kind of extension controller used for the control system was established. Seeing properties that the adaptive controller is good at dealing with the same and slowly time-varying problem and extension controller is good at dealing with time-varying and mutation problem, the advantages of the two kinds of controllers were combined and a new type of extension adaptive controller was developed. The simulation results show that the extension adaptive controller can greatly improve joints position precision and end implementation tracking precision of the parallel robot and can satisfy the the robot control requirements. The methods and results put forward are general and have broad prospect in application of the parallel robot control.关键词
并联机器人/可拓自适应控制/控制系统Key words
parallel robot/ extension adaptive control/ control system分类
信息技术与安全科学引用本文复制引用
马明智,芮延年,张飞,乔冬冬..基于可拓自适应理论的三轴并联机器人控制系统设计[J].工程设计学报,2012,19(1):53-56,4.
