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二自由度机械臂的鲁棒轨迹跟踪控制及仿真 预览

Robust Trajectory Tracking Control and Simulation of Two DOF Manipulator
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摘要 本文以二自由度机械臂为主要研究对象,对机械臂进行运动学模型分析和动力学模型分析,采用自适应鲁棒PD控制器,给出自适应律设计。最后基于Matlab软件搭建控制系统图,通过调节参数实现对机械臂轨迹的跟踪控制。 In this paper, taking two degrees of freedom manipulator as the research object, a specific controller and adaptive law proof design is proposed. The approach is based on the analysis of kinematics and dynamics models and the adaptive robust controller. Finally, the design chart of the control system is build by Matlab and the precision control of the trajectory tracking of the manipulator is realized by adjusting the parameters.
作者 张果 赵艳花 陈文清 ZHANG Guo, ZHAO Yanhua, CHEN Wenqing ( Luoyang Institute of Science and Technology, Luoyang 471023, China)
出处 《洛阳理工学院学报:自然科学版》 2017年第3期62-64,83共4页 Journal of Luoyang Institute of Science and Technology (Natural Science Edition)
基金 河南省教育厅重点科研项目(168423003).
关键词 二自由度机械臂 轨迹跟踪 D—H参数法 自适应鲁棒控制 two DOF manipulator trajectory tracking D -H parameters method adaptive robust control
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