工业机器人的控制策略探讨_罗璟.pdfVIP

2008 10 Oct12008 36 10 MACH INE TOOL HYDRAULICS Vol136 No110 工业机器人的控制策略探讨 1, 2 1 2 2 璟 , , , 11 , 150001; 21, 650093) : , , , : ; ; : TP24 1 : A : 1001- 388 1 2008) 10- 095- 3 Stu dy on th e C on trol Stra t egy in In du str ia l R ob ot 1, 2 1 2 2 LUO Jing , ZHAO K eding, TAO X iangting, YUAN Ru ibo 11College ofM echanical and E lectrica lEngineering, H arb in Institute Un iversity, H arbin 150001, Ch ina; 21In stitute of F lu id Control Engineering ofKunm ing Un iversity of Sc ience and Technology, Kunm ing 650093, Ch ina) Ab str ac t: The developing process of the robot was summ arized and the technique characteristics of current indu strial robot was genera lized. Severa l comm on control strategies in indu strial robot techn iquew ere introduced, such as var iable structure contro,l adap2 tive control, robu st control and in telligent control etc. . The application of variou s control strateg ies in indu strial robot was ana lyzed, such as u sing variab le structure control strategy to get a optmi a l com prom ise bewt een bandw idth and accuracy; u sing adaptive control to rea lize a com pen sation to p aram eter uncertainty; u sing robu st con trol to rea lize a comp ensation to non2p aram eter uncerta inty; u sing the neura l network strategy in them otion planning of var ious