基于自适应神经网络的机械臂滑模轨迹跟踪控制
李琦琦,徐向荣,张卉
Sliding mode trajectory tracking control of manipulator based on adaptive neural network
Qiqi LI,Xiangrong XU,Hui ZHANG
表1
机械臂的
D-H
参数
Table 1
D-H parameters of manipulator
关节
θ
i
/
r
a
d
α
i
-
1
/
rad
d
i
/m
a
i
-
1
/m
1
2
3
4
5
6
θ
1
θ
2
θ
3
θ
4
θ
5
θ
6
π/2
π
π/2
π/2
π/2
π
0.275 5
0
-0.009 8
-0.311 0
0
-0.263 8
0
0.410 0
0
0
0
0