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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。
Aiming at the new multi-joint wrist structure designed by ourselves, a controlled model which can be used in MATLAB is built in ADAMS to carry out joint control simulation of ADAMS and MATLAB. Based on the analysis of the dynamic model of the new wrist structure, the method of combining the computational torque method with the sliding mode variable structure control method is used to control and the sliding mode variable structure control method is improved to eliminate the jitter "Phenomenon, which has been a better trajectory tracking effect. Finally, the PID control method, the pure computing moment method and the proposed control method are compared to verify the effectiveness of the algorithm.