平面Delta机器人的建模与调节

2022 4th International Conference on Electrical Engineering and Control Technologies (CEECT) Pub Date : 2022-12-01 DOI:10.1109/CEECT55960.2022.10030206

Mengyuan Sun

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引用次数: 0

摘要

本文介绍了一种设计好的三角平面机械臂的建模与控制。我们在Simulink中解决了从数学模型到物理模型的系统建模问题。受[1]中研究的路径跟踪控制问题的启发，我们提出了一种点对点调节设计。特别是，我们嵌入了一个高增益的基于观测器的调节器来做到这一点。通过数值模拟验证了所提出的结果，包括基于与实际设计的delta机器人相关的物理模型的测试。

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Modeling and Regulation of A Delta Planar Robot

This paper is to present modeling and control of a designed delta planar robotic manipulator. We address the system modeling issue from mathematical models to physical models in Simulink. Inspired by the path following control problem as studied in [1], we show a point-to-point regulation design. Particularly, we embed a high-gain observer-based regulator to do so. The proposed result is demonstrated by numerical simulations, including a test based on a physical model relating to a real designed delta robot.

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2022 4th International Conference on Electrical Engineering and Control Technologies (CEECT)

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