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1、并联机器人轨迹跟踪积分变结构控制的研究（Trajectorytrackingintegralvariablestructurecontrolofparallelrobot）Thisarticleiscontributedbyckl837594562PdfdocumentsmayexperiencepoorbrowsingontheWAPside.ItisrecommendedthatyoufirstselectTXT,ordownloadthesourcefiletothelocalview.VIPinformationht
2、tp://www.cqvip.comVolumesecond,seventeenth,20,January,03JournalofYanshanUniversityJunlfnhnUnvrioraYasaiesyotV..2.1017NoJn20a.o3TrackingonSuyorjcoyFlwifaallootdnTaetrolnorlbtogPeRintegralvariablestructurecontrolofparallelrobottrajectoryUsnneaibeStutrnrigItgrlVarlrcu
3、eCotolaWangHongbin,WangHongrui,XiaoJinzhuangAccordingtothecharacteristicsofparallelrobotcontrol,theintegralvariablestructurecontroltheoryisappliedtothetrajectorytrackingofparallelrobot,andtheapproachlawisintroduced.Theintegralvariablestructurecontrollawisgiven.Thes
4、imulationresultsshowthatthemethodhasgoodcontroleffectontrajectorytrackingofparallelrobot.Keywordsparallelrobot,integralvariablestructure,approachlaw,trajectorytracking.L,...()261AbtatBaentecnrlhrceitfhaallsrcsdohotoaatrsioteprlccerbttepprplseterfnerlaalrcueoo,haepi
5、oyoitgarbesutraethhvitCnrlheootjcrcnrlnidcteprahottootrbtretyotadnuthapocaoosIglwihesmetnantai.Ihessementytm,telwonerhafitg~vralrcuecnrlsitoue.ThiltnrslaibesutrotrdcdtoinesmuaiutoedmosrtshtemeoaegootleutoentetatahhtdhsavrodcnrsltyorHaalbtteprlloo.erKersaallbtitgaai
6、besrcueotlywodPrlo,nerlrlutrnr,erovatcoApocigl,tjcrlwigprahnaretyfln.waooo...,2,......0IntroductionIntheformula,thecorpse.;2O:=Jo;A)from2to2,.Currently,muchresearchhasbeencarriedoutaroundserialrobotsItscharacteristicofmotionopeningchaindeterminesitsrigidityandcarry
7、ingcapacityButtheparallelrobotcanmakeupfortheseshortcomings,thatis,thedualrelationofseriesandparallelconnection".The6parallelrodsin6DOFparallelrobotarecomposedof6ModernindustrialrobotsrequiremoreprecisionandspeedHigher.Theimprovementofrobotperformanceisrelatedtomec
8、hanicalstructureontheonehand,Inaddition,therobotcontroltechnologyisalsoanimportantaspect.VariablestructureThestructurecontroltheoryiswidelyusedbe
