基于正反馈的机器人位置控制

Position Control of Robotic Manipulators Based on Positive Feedback

本文提出了一种简单、精确的机器人位置控制算法，适用于快速运动并具轻微阻尼的机器人手臂，该算法采用正位置反馈策略，仅需位置传感器监测机器人手臂的关节角度以提供稳定的位置控制。最后采用两关节机器人进行了实验研究，实验结果表明了该算法的有效性。

This paper presents a simple, accurate position control algorithm, suitable for fast maneuvering andlightly damped robotic arms. This algorithm is based on the Positive Position Feedback(PPF) strategy. Thedeveloped control algorithm uses only position sensors to monitor joint angles of robotic arms providing stableposition control. Only the optimized tuned filters manipulate the position signals for the performance of therobotic system. Testing the PPF algorithm is emphasized, comparisons are presented between the experimental performance characteristics and a conventional proportional controller.