CAJ | 학술논문

针对并联机器人的轨迹跟踪问题，提出一种新型自适应滑模控制（NASMC）策略。该方案无须知道系统扰动参数和不确定值上界，能有效解决滑模控制（SMC）中切换增益过度适应问题；且能减弱机器人启动时刻的冲击，从而避免并联机器人启动时可能出现的奇异位形。理论分析与仿真结果验证了该控制算法的有效性。
침대병련궤기인적궤적근종문제，제출일충신형자괄응활모공제（NASMC）책략。해방안무수지도계통우동삼수화불학정치상계，능유효해결활모공제（SMC）중절환증익과도괄응문제；차능감약궤기인계동시각적충격，종이피면병련궤기인계동시가능출현적기이위형。이론분석여방진결과험증료해공제산법적유효성。
A new strategy of adaptive sliding mode control (NASMC)for parallel robot on trajectory tracking was proposed. U-sing the proposed NASMC algorithm,an effective solution was provided for the over adaption problem in current design,the require-ment of a prior knowledge of the upper bound of the model uncertainty was removed as well,and the impact response to parallel robot on start time was weakened,so the state of singular configuration was avoided. Theoretical analysis and simulation results show the ef-fectiveness of the proposed strategy.