直接驱动机器人控制算法的试验研究和比较

EXPERIMENTAL STUDY AND COMPARISON OF D.D.ROBOT CONTROL ALGORITHMS

本文针对直接驱动机器人轨线跟踪进行了控制方法实验比较研究，为了解决实时控制的运算量问题，首先建立了一个基于Ｔｒａｎｓｐｕｔｅｒ的机器人并行控制器，实现了前馈补偿、计算力矩、滑动模以及自适应等几种典型的控制方案，据此给出了一些比较结果．

This paper describes the experimental study of various control algorithms of D.D.robot for tra-jectory tracking.At first we constructed a parallel controller using transputer for the purpose of accomplish-ing a large amount of calculation. With this parallel controller we have tested feedforward,computed torque,sliding mode and adaptive control algorithms on our D. D. robot.At the end comparison results are given.