高技术通讯2015，Vol.25Issue(12)：1062-1068,7.DOI:10.3772/j.issn.1002-0470.2015.12.010
鲁棒性迭代学习控制在去毛刺机器人轨迹跟踪中的应用
Application of robust iterative learning control to burring robot path tracking
摘要
Abstract
The study investigated the path tracking control problem in the burring process of an industrial robot, and found that the traditional iterative learning control algorithm cannot precisely plan the polishing path of a burring ro-bot due to the influences of non-repetitive disturbances, cutting force variation caused by burr size difference, un-certainty in dynamic modeling and other uncertain factors, so the higher precise tracking control can not be a-chieved, and the stability of the burring system cannot be guaranteed.Then, a kind of robust iterative learning con-trol algorithm was put forward to improve burring robots’ path tracking performance and anti-interference ability. The adoption of a robustness item, makes this algorithm more robust when under interference and more accurate when tracking path, and traditional iterative learning control’ s problem that the accuracy requirements of polishing path can be completed only after determining the model can be solved.The simulation experiment verified the ro-bustness of the robust iterative learning algorithm and showed its little tracking error.关键词
去毛刺/鲁棒迭代学习控制/跟踪轨迹Key words
burring/robust iterative learning control/tracking path引用本文复制引用
郑佳奇,熊禾根,陶永,林远长,王田苗,何国田..鲁棒性迭代学习控制在去毛刺机器人轨迹跟踪中的应用[J].高技术通讯,2015,25(12):1062-1068,7.基金项目
863计划（2013AA040501）和重庆市科委151机器人工程课题（cstc2013jcsf-zdzxqqX0005）资助项目。 （）
