摘要
本文以双手协调的闭运动链为模型,通过一个能量型的Lyapunov函数,设计了Lyapunov全局指数稳定的轨迹跟踪控制律,克服了通常采用主从方式时从手控制器需在线计算非线性项的不足.
This paper introduces the Dual Arm coordination control problem based on closed chain formulation.Through a slight modification of an energy Lyapunov function, closed-loop exponential stability fortracking control problem is demonstrated. In this design, the nonliear terms are decoupled from real-timemeasurements. The requirement for on-line computation of nonlinear terms is avoided in the controllerimplementation. Research is supported by Shenyang Robotics Open Research Laboratory Foundation.
出处
《机器人》
EI
CSCD
北大核心
1991年第1期50-56,共7页
Robot
关键词
机器人
协调控制
LYAPUNOV函数
Dual Arm coordination control problem
Lyapunov function
tracking control problem
