摘要：当今世界上，高科技新型技术的发展带动了机器人技术的前进，各个行业使用机器人来进行制造或者服务，因此很多不同功能的机器人被开发出来。本文的研究对象工业机器人是广大机器人领域中最常见的一种类型。机械人和人类的最大差别就是灵活性与耐力度。机器人的优势在于能够重复做一种动作永远不会疲劳。机械手是20世纪发展起来的一种高科技自动生产设备，其作业精准率高并且能够用于恶劣环境。各个国家已经把工业机器人列为最重要科学技术之一。

本文研究内容为：

首先，在掌握机械手结构特征的前提下，选择拉格朗日动力学方程来推导出机器人动力学模型，之后通过MATLAB软件得到所需的动力学建模参数。

接着，在建立完动力学模型的基础上，使用滑模变结构控制为其设计控制器，并使用MATLAB软件进行制图与运算，验证其可行性。

最后，通过仿真结果可得，这种控制方法能使机械臂朝期望轨迹运动，并且能够在短时间内实现快速跟踪。

毕业论文关键词： 滑模变结构控制；MATLAB；机械臂；动力学建模

Dynamic modeling and control of industrial robots

Abstract:In today’s world,the development of new high-tech technology led to the advance of robot technology,so various industries use robot for manufacturing or service.The research object of this paper is the vast number of industrial robots in the field of robotics most common type.The biggest difference between robots and humans is the flexibility and strength of resistance.The advantage of robot is that robot can repeat their actions without of tiredness. Manipulator is a high-tech automated production equipment which developed since the 20th century,its operational accuracy is high and can work against the hard environment.Each country has classified manipulator as one of the most important science and technology.

The main study of this paper:

First of all, understand the premise of manipulator’s structure,select the Lagrange dynamics equations to deduce the dynamic model of the robot,and then give the desired kinetic modeling parameters by MATLAB software.

Thereafter, on the basis of the establishment of complete dynamic model ,using sliding mode control to design a controller using MATLAB software for mapping and operation,verify its feasibility.

Finally，what we can obtain in the simulation results is that this control method enables the arm toward the desired trajectory and fast tracking in a short time.

Key Words：Sliding Mode Control; MATLAB; Manipulator; Dynamic Model

目录

1 绪论1

1.1 机械手的应用和研究现状1

1.2 国内机器人技术现状与国外机器人技术的领域发展2

1.3 机械臂控制理论3

1.4 选择机械手控制方法4

1.5 本文的主要研究内容4

2 机械手的动力学建模6

2.1 拉格朗日动力学的建模模型6

2.1.1 拉格朗日动力学的数学模型6

2.2 机械手动力学建模方程7

2.2.1 计算系统的动能k和势能p7

2.2.2 拉格朗日方程的建立8