黑龙江科技大学学报2016，Vol.26Issue(6)：681-686,6.DOI:10.3969/j.issn.2095-7262.2016.06.019
工作空间机器人末端轨迹的滑模控制
Study on trajectory of manipulators end-effector based on sliding mode algorithm in task space
摘要
Abstract
This paper presents a novel design approach for sliding mode control law based on an improved double power exponential reaching law-a method aimed at improving the trajectory tracking performance of industrial robot as a viable solution to the drawbacks inherent in traditional controllers,such as a higher starting output torque,a lower error convergence speed and chattering.The research building on the dynamics equations in task space coordinates involves improving exponential reaching law and applying the double power exponential reaching law with the saturation function for designing a terminal sliding mode controller;and thereby achieving the direct control of end-effector' s trajectory in task space.The study is validated by the simulation experiment under the environment of Simulink and subsequent comparison of the control effects of different controllers under two reaching laws.The results demonstrate that this proposed method may provide a control system with a better robustness,a greater control precision,and an effective chattering reduction.关键词
机器人/滑模控制/趋近律/轨迹跟踪Key words
robot/sliding mode control/reaching law/trajectory tracking分类
信息技术与安全科学引用本文复制引用
沈显庆,郑俊翔,唐巍,王明杰,刘继红..工作空间机器人末端轨迹的滑模控制[J].黑龙江科技大学学报,2016,26(6):681-686,6.基金项目
黑龙江省教育厅科学技术研究项目(12541697) （12541697）
