摘要
针对关节机器人的轨迹跟踪控制问题,利用前馈控制的思想,设计了常规PID控制前馈补偿项,有效提高系统的跟踪性能。将该方法应用于GR-II型两关节机器人系统,仿真实验表明该控制方法能保证系统良好的轨迹跟踪性能,并能有效抑制干扰,与常规PID控制效果对比,有更好的控制性能。
For the trajectory tracking control problem of joint robot,the idea of feed-forward compensation was designed for conventional PID control in order to improve the tracking performance of the system.This method was applied to GR-II type two-joint robot.The simulation results proved that the control method could guarantee good trajectory tracking performance of the system,and effectively restrain interferences.Compared with conventional PID control,the method proposed in this paper has better control performance.
作者
姜峰
Jiang Feng(Taizhou Polytechnic College, Taizhou 225300, China)
出处
《山东科学》
CAS
2018年第6期93-96,共4页
Shandong Science
基金
江苏省泰州职业技术学院院级科研项目(TZYKY-17-18)
关键词
轨迹跟踪
前馈补偿
关节机器人
trajectory tracking
feed-forward compensation
joint robot
