PUMA机器人的极点配置控制

Pole Placement Control of PUMA Robot

本文为PUMA机器人提出了一种极点配置控制法。这种控制方法的优点:一是它的积分作用消除了机器人的微小扰动和稳态误差;二是能任意配置系统的极点,因此能保证闭环系统的稳定性和规定状态变量的暂态响应。最后,给出了PUMA760机器人的计算机仿真结果和实验结果,验证了此控制法的有效性。

This paper proposed a pole palcement control method for PUMA robot. This control method has fol-lowing advantages: First, its integral effect eliminates minor disturbances and steady errors; Second, the poles of the closed-loop system can be placed arbitrarily, therefore, it can guarantee stability of the closed-loop system and specify the transient response of state variables. Finally, the computer simulation and experiment results for PUMA 760 are given to demonstrate the effectiveness of proposed control method.