机械与电子2016，Vol.34Issue(9)：73-76,4.
基于扰动观测器的SCARA机器人运动误差补偿控制设计与仿真
Control Design and Simulation of SCARA Robot’s Motion Error Compensation Based on Disturbance Observer
摘要
Abstract
In order to obtain high precision motion control of SCARA Robot under interference,a robot kinematics model is established.By designing a PID control system with disturbance observer,the unpre-dictable factors are observed and compensated in the robot motion process.The MATLAB and ADAMS combined simulation on the control system is then performed.Results show that the new control system can reduce the robot arm tracking error and achieve better tracking results compares to the conventional PID control system.关键词
SCARA机器人/PID控制/扰动观测器Key words
SCARA robot/PID control/disturbance observer分类
信息技术与安全科学引用本文复制引用
李怀政,刘美红,陈启愉,张华伟,吴智恒,唐国宝..基于扰动观测器的SCARA机器人运动误差补偿控制设计与仿真[J].机械与电子,2016,34(9):73-76,4.基金项目
广东省科技计划项目（2015B010918001，2015A040404038，2014B070706025，2015B070701025）；广东省科学院内项目 （）
