关键词: 自动控制技术, 六自由度机器臂, 非奇异快速终端滑模控制, 李雅普诺夫理论

Abstract: A non-singular fast terminal sliding mode controller is designed for 6-DOF manipulator, which is a highly complex, nonlinear and uncertain articulated robot system. In this method, On condition that the fast terminal sliding mode is changed, the control law non-singularity is ensured . This paper firstly analyses the singularity problem when the conventional fast terminal sliding mode controller is applied to six-axe harmonious motion control of the 6-DOF manipulator .Then a non-singular fast terminal sliding mode controller is proposed and the stability of control system is proved using the Lyapunov theory. Furthermore. the non-singular fast terminal sliding mode controller is applied to six-axe harmonious motion control of the 6-DOF manipulator, the results illustrate that the non-singular fast terminal sliding mode method can improve stability, accuracy, fast convergence and robustness of the position and orientation control of six degree of freedom manipulator.

Key words: automatic control technology, 6-DOF manipulator, the non-singular fast terminal sliding mode control, Lyapunov