| 引用本文: | 孙富春,孙增圻.机械手的离散滑动模控制器设计[J].控制理论与应用,1992,9(4):360~366.[点击复制] |
| SUN Fuchun,Sun Zengqi.The Discrete-time Controller Design Based on Sliding Mode for Manipulators*[J].Control Theory and Technology,1992,9(4):360~366.[点击复制] |
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| 机械手的离散滑动模控制器设计 |
| The Discrete-time Controller Design Based on Sliding Mode for Manipulators* |
| 摘要点击 1001 全文点击 572 投稿时间：1990-11-21 修订日期：1991-10-10 |
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| DOI编号 |
| 1992,9(4):360-366 |
| 中文关键词 采样系统 机器人 变结构控制 |
| 英文关键词 sampling systems robots the variable structure control |
| 基金项目 |
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| 中文摘要 |
| 本文针对机器人系统的计算机控制问题，将带有边界层的滑动模控制器设计方法[1]推广到了离散系统。本文研究了采样周期对系统性能的影响并给出其选择方法，为进一步提高跟随精度，本文提出了一种新的补偿方法。最后，本文提出方法的有效性和优越性的PUMA560六自由度机械手的数字方阵中获得验证。 |
| 英文摘要 |
| In this paper, the design approach of the sliding mode tracking controller with boundary layer in [1] is developed in discrete-time systems for the computer control of robots. This paper also deals with the effect of sampling interval on system performance, proposes a new compensation method for further improving the tracking precision, and a method for sampling interval selection is given. Finally, the effectiveness and good performance of the proposed design approach is examined through the six degrees of freedom Arm PUMA560 with digital simulations. |
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