CAJ | 학술논문

针对建模和测量的不精确性，外界干扰和状态变量的强耦合等因素对机械臂轨迹跟踪的影响，设计了基于反演控制算法的轨迹跟踪控制器。数值仿真结果表明，该控制器可使机械臂各关节的轨迹跟踪误差较小，能实现控制系统较好的鲁棒性，因此较适应于实际应用。
침대건모화측량적불정학성，외계간우화상태변량적강우합등인소대궤계비궤적근종적영향，설계료기우반연공제산법적궤적근종공제기。수치방진결과표명，해공제기가사궤계비각관절적궤적근종오차교소，능실현공제계통교호적로봉성，인차교괄응우실제응용。
Considering the influence on the manipulator caused by the inaccuracy of measurement and modeling,external disturbance, the strong coupling of states and other factor, a controller based on backsteping algorithm was designed. Simulation results proved that this controller can make each joint′s trajectory tracking error is very small, and also has a good robostness,so the proposed method is useful for protical use.