欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
分析了直流伺服电机驱动的3-RPC并联机器人的运动学反解,并对其进行了轨迹规划;设计了传统滑模控制及模糊滑模控制,建立了仿真模型,并完成了各支路的期望运动的轨迹跟踪。仿真结果表明：模糊自适应增益滑模控制比传统滑模控制精度更高,响应时间明显更快,更能有效地消弱控制中带来的抖振现象。
英文摘要：
DC servo motor driven parallel robot inverse kinematics solution of 3-RPC was analyzed. Its trajectory planning was done. The conventional sliding mode control and fuzzy sliding mode control were designed,and simulation model was established. Moreover the desired motion of trajectory tracking of each branch was completed. Simulation results show that the gain sliding mode control with adaptive fuzzy sliding mode control has higher accuracy than the traditional one,response time is significantly faster,and more effective in weakening the chattering phenomena in control.
同期刊论文项目
同项目期刊论文
期刊信息
位置：