Aiming at the problem that trajectory tracking error is large when manipulator is used with a controller, a linear variable parameter control method of manipulator was designed, and the tracking error was simulated and verified. The kinematics diagram of the twojoint manipulator was constructed, and the mathematical model of the rigidbody dynamics of the manipulator was established. The linear combination of the kinetic parameters was introduced to derive the linear variable parameter model. The linear variable parameter controller of the manipulator was designed. The tracking error of the controller was simulated by Matlab/Simulation software. At the same time, it was compared and analyzed with the results of simulation of the trajectory tracking error of other manipulators of controllers. The simulation results show that the actual output trajectory of the linear variable parameter controller is more close to the expected trajectory of the theory and the motion is relatively stable. Linear variable parameter control can improve the trajectory tracking accuracy of the manipulator.
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孟令新,苗晋涛,杨帆.基于线性变参数控制的机械臂追踪误差仿真研究[J].机床与液压,2017,45(9):42-45. . Simulation Research on Manipulator Tracking Error Based on Linear Variable Parameter Control[J]. Machine Tool & Hydraulics,2017,45(9):42-45