基于U-K理论的机械臂末端轨迹控制研究 - 摘要与关键词

摘要：

机械臂末端轨迹控制是机器人控制研究中的重要问题。本文基于U-K理论，研究了机械臂末端轨迹控制方法。通过建立数学模型，分析了系统的动态特性和稳定性，并设计了相应的控制策略。仿真结果表明，所设计的控制器具有较好的控制性能，可以实现机械臂末端轨迹的精确控制。

关键词：机械臂，末端轨迹控制，U-K理论，控制策略，仿真

翻译：

The end-effector trajectory control of the manipulator is an important problem in the field of robot control. Based on the u-k theory, this paper studies the method of end-effector trajectory control of the manipulator. By establishing a mathematical model, the dynamic characteristics and stability of the system are analyzed, and the corresponding control strategy is designed. Simulation results show that the designed controller has good control performance and can achieve precise control of the end-effector trajectory of the manipulator.

Keywords: manipulator, end-effector trajectory control, u-k theory, control strategy, simulation.