并联机器人轨迹跟踪积分变结构控制的研究（Trajectory tracking integral variable structure control of parallel robot）.docVIP

并联机器人轨迹跟踪积分变结构控制的研究（Trajectory tracking integral variable structure control of parallel robot） This article is contributed by ckl837594562 Pdf documents may experience poor browsing on the WAP side. It is recommended that you first select TXT, or download the source file to the local view. VIP information Volume second, seventeenth, 20, January, 03 Journal of Yanshan University JunlfnhnUnvrioraYasaiesyot V..2.1017No Jn20a.o3 Tracking on SuyorjcoyFlwifaallootdnTaetrolnorlbtogPeR integral variable structure control of parallel robot trajectory UsnneaibeStutrnrigItgrlVarlrcueCotola Wang Hongbin, Wang Hongrui, Xiao Jinzhuang According to the characteristics of parallel robot control, the integral variable structure control theory is applied to the trajectory tracking of parallel robot, and the approach law is introduced. The integral variable structure control law is given. The simulation results show that the method has good control effect on trajectory tracking of parallel robot. Key words parallel robot, integral variable structure, approach law, trajectory tracking. L,... () 261 AbtatBaentecnrlhrceitfhaallsrcsdohotoaatrsioteprlccerbttepprplseterfnerlaalrcueoo, haepioyoitgarbesutraethhvit Cnrlheootjcrcnrlnidcteprahottootrbtretyotadnuthapocaoos Iglwihesmetnantai.Ihessementytm, telwonerhafitg ~ vralrcuecnrlsitoue.Thiltnrslaibesutrotrdcdtoinesmuaiutoedmosrtshtemeoaegootleutoentetatahhtdhsavrodcnrsltyor Haalbtteprlloo.er KersaallbtitgaaibesrcueotlywodPrlo, nerlrlutrnr, erovatco Apocigl, tjcrlwigprahnaretyfln.waooo ... , 2,...... 0 Introduction In the formula, the corpse.; 2O: = Jo; A) from 2 to 2,. Currently, much research has been carried out around serial robots Its characteristic of motion opening chain determines its rigidity and carrying capacity But the parallel robot can make up for these shortcomings, that is, the dual relation of series and parallel connection. The 6 parallel rods in 6D OF parallel robot are composed of 6 Modern industrial robots require more p