Fuzzy sliding mode trajectory tracking control method for SCARA robot
A trajectory tracking and control method technology, which is applied in the direction of program control, general control system, control/regulation system, etc., to achieve the effect of improving trajectory tracking speed, improving tracking speed and accuracy, and ensuring smoothness
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[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0025] The basic idea of the present invention is to provide an improved SCARA robot trajectory tracking control method: it does not need to know the precise mathematical model of the controlled object; and it has strong robustness, high tracking accuracy, and fast tracking speed; and Improve the torque impact caused by the large initial error. The present invention first performs a dynamic model of the SCARA robot to obtain the estimated values of the SCARA robot’s moment of inertia, centripetal force, Coriolis moment and gravitational moment; the present invention designs a non-singular fast terminal sliding mode surface, which improves the performance of the sliding mode controller Convergence speed, while elimin...
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