动基座机器人的末端受限鲁棒跟踪控制
The Robust Tracking Control of Restrained Robot with Random Perturbation on the Base
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摘要: 结合具有扰动基座末端受限机器人的动力学特性,提出了虚构线性不确定系统的匹配 模型概念.通过引入线性不确定系统的鲁棒跟踪控制器设计方法,发展了一种新的受约束机器 人的力鲁棒跟踪控制方法.文中给出了动基座PUMA562机器人的实验结果.Abstract: According to the dynamics of the restrained robot system with random perturbation on the base, a matching model of imaginary linear uncertain system is established in this paper. The method to design a robust stabilizing controller for the linear uncertain system is introduced, and a force robust tracking control method is developed for the restrained robot. The effectiveness of this method has been verified by experiment with the PUMA562 mounted on a omnidirectional vehicle.
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Key words:
- Restrained robot /
- robust control /
- uncertain system /
- nonlinear system /
- robot dynamics
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