农业并联机器人同步滑模控制

摘要

农业并联机器人的多支链相对末端执行器运动的协调性、耦合性成为并联机器人运动控制的难题,鉴于此,提出一种将同步控制与滑模控制相结合的控制方法.仿真和实验结果表明,该控制方法跟踪性能好,响应速度快,系统误差小,具有较强的鲁棒性,能够满足并联机器人的控制要求.%The coordination and coupling among agricultural parallel robot' s chains relative to the end actuator became a difficult problem in parallel robot motion control. Aiming at this, a control method that combined synchronization control with sliding mode control was proposed. The simulation results show that the control method has good tracking performance, high speed responsibility, small system error and strong robustness. It satisfied the requirements of the parallel robot control.