Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure

Huang Youxin; Qian Donghai; Dong Xiaokang; Wu Peng

doi:10.16578/j.issn.1004.2539.2017.01.013

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Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure

更新时间：2022-10-20

- Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure
- Vol. 41, Issue 1, Pages: 59-62(2017)
- 作者机构：
  
  1. 上海大学精密机械工程系
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.01.013
  CLC：
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[1]黄友昕,钱东海,董小康,吴鹏.一种新型腕部结构的滑模变结构控制研究[J].机械传动,2017,41(01):59-62+136.

Huang Youxin, Qian Donghai, Dong Xiaokang, et al. Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure. [J]. 41(1):59-62(2017)
[1]黄友昕,钱东海,董小康,吴鹏.一种新型腕部结构的滑模变结构控制研究[J].机械传动,2017,41(01):59-62+136. DOI： 10.16578/j.issn.1004.2539.2017.01.013.

Huang Youxin, Qian Donghai, Dong Xiaokang, et al. Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure. [J]. 41(1):59-62(2017) DOI： 10.16578/j.issn.1004.2539.2017.01.013.

摘要

针对自行设计的新型多关节腕部结构在ADAMS中搭建可在MATLAB中使用的被控模型,进行ADAMS与MATLAB联合控制仿真。在分析新型腕部结构的动力学模型的基础上,采用计算力矩法与滑模变结构控制法相结合的方法进行控制,并对滑模变结构控制法进行改进,消除控制中存在的"抖动"现象,从而得到了较好的轨迹跟踪效果。最后将PID控制法、纯计算力矩法,以及所提出的控制方法进行了控制效果比较,验证算法的有效性。

Abstract

Aiming at the controlled model of a designed new type of multi- joint robot wrist structure which can be built in ADAMS and used in the MATLAB,the co- simulation with ADAMS and MATLAB is carried out. On the basis of analyzing the dynamics model of new type of robot wrist structure,the control is carried out by using the method of combining computed torque method and slide mode control method,and the method of slide mode variable structure control is improved to eliminate chatter phenomenon existing in the control,the more accurate trajectory tracking effect is got. Lastly,the control effect comparison among PID method,traditional computed torque method,the proposed control method is carried out,and the validty of the proposed control method is verified.

关键词

ADAMS MATLABPID控制计算力矩法滑模变结构控制

Keywords

ADAMS MATLABPID controlComputed torqueSlide mode control

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