摘要
本文研究了非线性动态系统解耦和调节的一种递阶结构,这种结构将集中式的功能分散化,具有便于多微处理器实现及实时在线控制的特点。文中将该结构应用于一个液压工业机器人(Fabrikat FIBRO)的控制中,并给出了仿真研究的结果。
This paper presents a hierarchical structure for nonlinear decoupling and
control of dynamic systems.By the hierarchical structure nonlinear systems
are decentralized and decoupled.An arbitrary dynamic for each of the
decoupled subsystems is permitted.The structure is appropriate to implementa-
tion with multimicroprocessors and is an example used to control thedynamic
model of an industial robot(Fabrikat FIBRO)which is highly nonlinear and
contains nonlinear couplings between the variables of motion.In this paper
the results of simulation study are given.
关键词
机器人
工业
递阶结构
解耦
Nonlinear systems
decoupling
hiearchical structure
industrial robot
