摘要
本文基于超大规模集成(VLSI)的脉动(Systolic)结构,提出了实现机器人线性化模型的参数辨识及自适应控制中扰动力矩的并行计算方法.时序分析表明。
New systolic algorithms and efficient arrays are proposed for multi joint robotic parameter estimation and adaptive moment control. These new control algorithms combining the advantage of the fine grain VLSI architecture can improve the real time control efficiently. The analysis shows that the methods have high degree of parallelism and processor utilization.
出处
《机器人》
EI
CSCD
北大核心
1997年第2期81-85,共5页
Robot
关键词
参数辩识
机器人
自适应控制
VLSI
Systolic algorithm, parameter estimation, robotic adaptive control