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.
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