用计算力矩控制优化三自由度机械臂，实现精准位置追踪。
Simulation and optimization of computed torque control 3 DOF RRR manipulator using MATLAB
- 基于逆动力学设计计算力矩控制器，实时生成所需扭矩。
- 在MATLAB Simulink中完成轨迹规划与仿真，定位误差小。
- 适合机器人控制初学者或工业机械臂设计参考。
由于速度快、精度高、安全性好和重复性佳，机器人机械臂已成为生产行业的重要工具。本文对三自由度串联机械臂（RRR结构）进行仿真与设计优化。采用正/逆动力学模型，根据末端执行器的初始位置规划运动轨迹，并通过计算力矩模型求解实际轨迹、位置与速度。所有仿真均在MATLAB Simulink平台上完成。借助MATLAB，重点研究了基于计算力矩控制策略的机械臂控制方法，以实现目标位置的精确跟踪。
原文摘要 · Abstract (English)
Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator (RRR Configuration). The forward and inverse dynamic models are utilized. The trajectory is planned using the end effector's required initial position. A torque compute model is used to calculate the physical end effector's trajectory, position, and velocity. The MATLAB Simulink platform is used for all simulations of the RRR manipulator. With the aid of MATLAB, we primarily focused on manipulator control of the robot using a calculated torque control strategy to achieve the required position.
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