摘要
鉴于机械臂在机器人抓取、操作和搬运物体过程中的重要性,设计了具有五个自由度的机械臂,建立了机械臂的运动学模型,利用拉格朗日动力学建模方法建立了机械臂的动力学模型。在此基础上,设计了模糊滑模控制器,并将采用模糊滑模控制器得到的机械臂运动控制仿真结果与PID控制器进行比较,结果表明模糊滑模控制器具有良好的控制性能。研究结果为实际机械臂的动力学研究及机械臂的运动控制提供了有价值的参考。
Given the importance of robotic arm for the robot in the process of grasping, operating and moving object. Five degrees of freedom of mechanical arm has been designed. The mechanical arm＇ s kinematics model is established. The dynamic model of the mechanical arm is also built by using the theory of Lagrange dynamic modeling method. Then, a fuzzy sliding mode controller is designed. Final, the simulation results of motion control by using fuzzy sliding mode controller is compared with the PID control- ler. The results show that the fuzzy sliding mode controller has good control performance. These results provide valuable references for the dynamic study and move control of robotic arm.
出处
《现代制造工程》
CSCD
北大核心
2016年第6期34-39,共6页
Modern Manufacturing Engineering
基金
国家重点基础研究发展"973"课题项目(2011CB013302)
