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

摘要： 在机械手的点到点运动中，起始加速度和终止加速度过大都会导致较大的瞬时控制力矩，易对机械手造成损伤同时使系统不稳定。针对这个问题并考虑机械手系统的非参数不确定性，提出了合理的解决方案。首先选择了一种零起始和零终止加速度的期望轨迹曲线，基于跟踪误差设计滑模函数，同时设计PI控制器和反演控制器，最后证明了闭环系统的稳定性。利用二自由度机械手模型进行仿真实验，仿真结果证明了该方法的正确性和有效性。

关键词: 不确定性, 机械手, 鲁棒控制, 起止加速度