关键词: 不确定性, 机械手, 鲁棒控制, 起止加速度

Abstract: In the point to point motion of manipulator, oversize start-stop acceleration result in huge instantaneous control torque, therefore the manipulator is easily harmed and makes the system unstable. Reasonable solutions are proposed for this problem and uncertainties of manipulator. A desired trajectory curve of which the acceleration is zero both at start point and stop point is chose. Sliding mode function is designed based on tracking error, at the same time, the PI controller and backstepping controller is designed. The stability of closed-loop system is proved. The simulation experiment is conducted using 2-DOF manipulator, the correctness and effectiveness of proposed control approach is demonstrated by simulation results.

Key words: uncertainty, manipulator, robust control, start-stop acceleration