| 基于时间缩放轨迹规划的水平3R欠驱动机械臂的滑模控制 |
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| 引用本文： | 陈杨锴,陈炜,赵新华. 基于时间缩放轨迹规划的水平3R欠驱动机械臂的滑模控制[J]. 天津理工大学学报, 2014, 0(3): 1-4 |
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| 作者姓名： | 陈杨锴 陈炜 赵新华 |
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| 作者单位： | 天津理工大学机械工程学院,天津300384 |
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| 基金项目： | 国家自然科学基金（51275353） |
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| 摘 要： | 本文以水平运动的3R欠驱动机械臂为研究对象,在关节空间研究其位置控制.本文详细介绍了时间缩放方法,并用该方法进行了运动规划.最后采用基于趋近律的滑模控制,以主动关节1、2与被动关节3之间的耦合关系为理论基础,实现对关节3的运动控制,使机械臂运动到要求位姿.文章还进行基于Matlab的数值仿真验证了方法的有效性.
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| 关 键 词： | 欠驱动机械臂 位置控制 趋近律 滑模控制 |
The sliding mode control of the level of 3R underactuated manipulator based on time scaling |
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| CHEN Yang-kai,CHEN Wei,ZHAO Xin-hua. The sliding mode control of the level of 3R underactuated manipulator based on time scaling[J]. Journal of Tianjin University of Technology, 2014, 0(3): 1-4 |
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| Authors: | CHEN Yang-kai CHEN Wei ZHAO Xin-hua |
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| Affiliation: | ( School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China) |
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| Abstract: | In this paper,as the research object of the horizontal movement of the 3R underactuated manipulator,we study its position in the joint space control. This paper introduces in detail the motion planning of time-scaling method,and using it to plan the motion of manipulator. Finally sliding mode control based on the reaching law are acted on underactuated manipulator and the theoretical basis of coupling relationship between passive joint（ joint 3） and the active joint（ joint 1,2）,making the manipulator reach the target of desired configuration. The numerical simulation results based on Matlab show the validity of the proposed method. |
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| Keywords: | underactuated manipulator position control reaching law sliding mode control |
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