Nonlinear Compensation Control for High-Speed Industrial Robot

被引：0
作者：
Cao, Jianfu [1 ,2 ]
Zhang, Jialiang [3 ]
Zhu, Hongbin [1 ]
机构：
[1] Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
[2] Guangdong Shunde Xian Jiaotong Univ Acad, Foshan 528300, Peoples R China
[3] Xian Technol Univ, Sch Elect Informat Engn, Xian 710021, Shaanxi, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Industrial robot; high-speed; automatic disturbance rejection; nonlinear compensation control; TERMINAL SLIDING MODE; TRACKING CONTROL; MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Under the high-speed operation, the control precision of the industrial robot is low and the robustness is poor due to the coupling effects of joints, inertia parameter variation and external disturbance. In order to solve these problems, a nonlinear compensation control algorithm of high-speed operation robot is proposed by combining the PID control method with the automatic disturbance rejection control method. The nonlinear characteristics of high-speed robot are analyzed, such as the multi-joint coupling characteristics and the variation characteristics of inertia parameters. The controller is designed for each joint, and the expansion observer is designed to dynamically estimate the disturbance of each joint. The XJ3KG robot is used as the experimental platform to acquire the actual parameters of the robot, and then the simulation experiment of the proposed control method is carried out. The results show that the proposed method has high control precision and good robustness.
引用
收藏
页码：4743 / 4746
页数：4
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