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冶金工业机器人在现代工业中扮演着越来越不可替代的角色。当今,由于工业自动化程度的大幅提高,人们对冶金工业机器人的性能要求也不断提出新的更高的要求。其中,随着工业技术的发展,也对机器人控制系统的稳定性提出了更高的要求。在冶金工业机器人动力学模型完全不确定的情况下,提出了一种冶金工业机器人鲁棒控制器,该控制器基于时延估计的方法。
Metallurgical industrial robots play an increasingly irreplaceable role in modern industry. Today, due to the substantial increase in the degree of industrial automation, the performance requirements of metallurgical industrial robots are constantly put forward new and higher requirements. Among them, with the development of industrial technology, the stability of the robot control system also put forward higher requirements. A metallurgical robot robust controller based on time-delay estimation is proposed under the condition of completely uncertain dynamical model of metallurgical industrial robot.