摘要
本文针对机器人关节电液位置伺服系统的特点,运用最优线性二次型控制系统设计原理,设计出了机器人关节最优状态反馈控制器,并用一种简单方法来克服系统非线性特性的影响,并通过实时控制实验证明其有效性。
This paper has designed a feedback controller for optimal state of robot joint based on the characteristics of electrohydraulic position servo system of robot joint by using the design principle of control system with optimal linear quadratic form. The design is proven to be effective by realtime control experiment with using a simple method to overcome the effect of nonlinear property of the system.
出处
《机床与液压》
北大核心
1991年第2期11-14,共4页
Machine Tool & Hydraulics
基金
国家教委开放实验室基金
国家"七.五"重点科技攻关项目基金
