一种基于线性化摄动模型的机器人自校正控制方法

A LINEAR PERTURBATION MODEL-BASAD SELF TUNING CONTROL TECHNIQUE FOR INDUSTRIAL ROBOTS

本文利用机器人的线性化ARMAX(受控自回归滑动)摄动模型,给出了一种独立关节的自校正隐式控制方案。采用噪声补偿技术减小未建模动态的影响,使系统的性能得到了显著提高。最后的仿真结果,证明了本控制方案的有效性。

An implicit selt-tuning control method based on linear perturbation ARMAX model is presented. Noise conpensation technique is used to reduce errors of the model. The simulation on 4-degree of freedow manipulator LuoTuo-2 demonstrates the effectiveness of the model.