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针对弹药装填机器人取弹后自身质量改变较大,运转时会受到质量变化和复杂车内环境共同作用,容易产生运动位移误差现象,采用一种基于重力改进的自适应PD控制算法,实现了弹药装填机器人实际运动轨迹与预定轨迹的快速跟踪要求,并通过Matlab-Simulink进行了仿真验证,得到了较好的控制效果。
Aiming at the large change of the quality of the ammunition loading robot after striking the projectile, it will be affected by the change of mass and the complexity of the vehicle environment during operation, and the movement displacement error may easily occur. A modified adaptive PD control algorithm based on gravity is adopted to realize the ammunition The real-time tracking requirements of the robot’s trajectory and trajectory are simulated by Matlab-Simulink, and the better control effect is obtained.