The paper introduced the principles of case rotation system, presented the algorithm of trajectory planning, analyzed the characteristics of control system, and provided a compensation method for system friction nonlinearity by Coulomb friction model.

• 文中介绍了壳体翻滚系统的组成与原理,提出了一种轨迹规划的算法,分析了被控对象的特性,应用库仑摩擦模型补偿系统摩擦非线性,并对控制系统进行建模与仿真。