机器人的一种大系统递阶协调的自适应控制方法

A LARGE--SCALE SYSTEM HIERARCHICALLY COORDINATED ADAPTIVE CONTROL SCHEME FOR A ROBOT

本文提出了一种用于机器人的大系统递阶协调自适应控制方法.一方面补偿机器人因建模的不准确以及负载的未知带来的误差;另一方面引入大系统的递阶协调控制实现系统控制算法的并行性,为机器人的在线控制研究提供了一条途径.本文最后给出的例子证明了该方法是可实现的.

This paper presents a hierarchically coodinated control scheme, possessing an adaptive feature, used in a robotviewed as a large-scale system. The method, on one side, can compensate the errors brought about due to themodelling inaccuracy of the robot and due to the fact that the load is unknow, and on the other side, it realizes theparallel control algoirthm, thus it provides an approach to online robot control research. An example given in thefinal part of the paper shows that the scheme is feasible.