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卡氏空间机器人自校正控制

Self-tuning Control of Robot in Cartesian Space
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摘要 卡氏空间机器人自校正控制方法,是采用递推牛顿-欧拉方程计算额定力矩构成前馈补偿,而反馈控制器基于标称轨迹附近的线性化摄动方程进行设计.这种方法使机器人在相当大的运动与有效载荷范围内,始终尽可能准确地跟踪卡氏空间的标称轨迹.通过和常规/PID/-控制方法的仿真比较,显示了此方案的有效性. This paper suggests a robot self-tuning control method in Cartesian space, in which the specified torgue composing feedfotward compensation is calculated by using N-E equation and the feedback controler designed is based on the lineer preturbation equation along the ideal curve.It is possible that under a large scale motion and effective load The robot tracks accurately the ideal curve.The simulation shows this scheme is effective.
出处 《哈尔滨船舶工程学院学报》 EI CAS CSCD 1990年第4期404-409,共6页
关键词 卡氏空间 机器人 自校正控制 cartesian space robotics self-tuning control perturbation equation least square identification
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