摘要
本文研究一种具有动态可调的最优极点配置机器人控制问题.首先,给出机器人具有非线性前馈补偿的线性摄动方程,并给出多变量系统最优极点配置的递推计算公式.然后,讨论机器人在K时刻进行单步希望极点配置的控制方案,从而实现整个控制过程极点可调.最后,给出一典型两连杆机器人的设计实例及计算机数字仿真结果.
control problem with varialbe dynamic pole placement for robots is discussed in this paper.First, a linear Perturbation equation with nonlinear compensation, and a recurrence formula for OPtimal pole Peacement are established. Then, a control scheme with prescribed POle placement at the inStunts t=kT foe robotS is st.died. The design and simulation test by microcomputer for a two-joint robot are presented to illustrate the use of the method.