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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

Inactive Publication Date: 2014-01-29
JIANGNAN UNIV +1
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Problems solved by technology

On the premise of ensuring the effect of chattering suppression, it improves the trajectory tracking speed of the robot system, and improves the torque impact problem caused by excessive deviation in the initial stage.

Method used

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  • Fuzzy sliding mode trajectory tracking control method for SCARA robot
  • Fuzzy sliding mode trajectory tracking control method for SCARA robot
  • Fuzzy sliding mode trajectory tracking control method for SCARA robot

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Embodiment Construction

[0024] In order to make the object, technical solution 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 thinking of the present invention is: provide a kind of trajectory tracking control method of improved SCARA robot: it does not need to know the precise mathematical model of controlled object; And has strong robustness, high tracking precision, fast tracking speed; And Improve the moment impact problem caused by the large initial error. The present invention first carries out dynamic model to SCARA robot, obtains the estimated value of moment of inertia, centripetal force and Coriolis moment, gravitational moment of SCARA robot; Convergence speed, while eliminating the shortcomings of the singularity of the traditional fast terminal sliding mode surface when the state variable is less than zero; the pres...

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Abstract

The invention provides a fuzzy sliding mode trajectory tracking control method for an SCARA robot with modified sliding mode surface and reaching law. The method has the advantages that no precision dynamical model is required, and robustness is high; a fast terminal sliding mode surface which is modified is adopted, so that convergence rate of a system is increased, and singularity of the traditional terminal sliding mode surface is eliminated; the fast reaching law is adopted, the exponential approach law features fast reaching when leaving the sliding mode surface, power reaching law features smooth reaching when reaching the sliding mode surface, and tracking speed is increased, and meanwhile trajectory tracking precision is guaranteed; a sign function is replaced with a hyperbolic tangent function, and accordingly, high frequency chattering of the system is eliminated effectively; exponential term coefficient of the reaching law is corrected with a fuzzy adaptive controller, and the problem of moment shock caused by large system initial error is improved.

Description

technical field [0001] The present invention relates to the field of trajectory tracking control of SCARA robots, and specifically refers to a fuzzy adaptive sliding mode control method based on improved sliding mode surface and reaching law to realize fast and high-precision trajectory tracking control of SCARA robots, and to improve the sliding mode system shaking Vibration and a method to improve the torque shock when the robot starts. Background technique [0002] Industrial robot technology is a comprehensive technology that integrates computer science, control theory, space mechanism, sensor technology, artificial intelligence theory and many other disciplines. [0003] The industrial robot system is a complex multi-input multi-output nonlinear system with time-varying, strong coupling and nonlinear dynamic characteristics. Trajectory tracking control is an important content in industrial robot control. The trajectory tracking control of the robot means that the stat...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1615G05B2219/40289
Inventor 白瑞林许凡殷国亮过志强
Owner JIANGNAN UNIV
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