Faced with increasingly complex actions and tasks,it is difficult to control the motion of robotic arms,and traditional control methods are unable to achieve ideal control effects.To address the above issues,a motion control method for robot robotic arms based on microcontroller technology is studied.This study uses AVR 1280 microcontroller as the control carrier and sets up con-trol circuits.A sliding mode robust(SMR)control model is designed by combining sliding mode control and robust control,and it is used as the core of the logic program for controlling the motion of a robotic arm with a single electrode,achieving tracking control of the robot arm's motion trajectory.The results show that the average motion tracking error of each joint under the control of the studied method remains within a small range,indicating that sliding mode control achieves accurate position tracking in a short period of time.At the same time,robust control weakens the influence of uncertainty on the control effect,achieving the ideal control effect.
关键词
单片机技术/机械臂/运动跟踪/滑模鲁棒(SMR)控制模型
Key words
microcontroller technology/mechanical arm/motion tracking/sliding mode robust(SMR)control model
维普
万方数据