摘要
为磨平有细微缝隙钢坯的修磨机器人(Smoothing and Grinding Robot)设计了一种最优控制器,这种控制器利用前馈力矩作为总体补偿和一个反馈增益校正轨线跟踪误差,不需要在线估计时变参数,也不必使机器人末端执行器跟踪一个不相关的参考模型的响应。最后,给出了SGR机器人的计算机仿真结果。
An optimal controller was designed for SGR , i, e. the robot serves the functions of smoothing and grinding semifinished steel having small cracks on surface . Utilizing a feedforward torque as gross compensation and a feedback gain to correct the follow-up errors in a path scheduled,the controller has neither need of making on-line estimate of time variables nor following up responses from a non-relevant model for reference by use of the terminal actuator of robot. Moreover, the results of computer simulation of SQR are included.
