摘要
讨论在关节空间中机械手的反馈镇定问题。首先通过构造新的 L yapunov函数 ,证明了 PD控制规律加简单的 (期望位置的 )重力补偿可以全局镇定刚体机械手系统 ,改进了需要精确重力补偿的 PD控制规律。进一步利用机械手动力学方程中的无源性 ,提出了具有简单重力补偿的动态输出控制规律。由于期望位置的重力可以离线计算 。
Referring to the point to point control problem, this work present some new control algorithms for robotic manipulators. By employing a novel Lyapunov function, we proved that PD plus simple gravity compensation control laws are enough to globally stabilize robotic manipulators. Following the same approach and passive property in robotic system, we presented output feedback control laws with simple gravity compensation to globally stabilize robotic manipulators. Since simple gravity compensation term, that is, unique gravity term at desired position, can be calculated off-line, our control algorithms reduce substantially the calculation complexity of the controller.
出处
《机械科学与技术》
EI
CSCD
北大核心
2001年第3期336-337,345,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金 (697740 10 )
航空科学基金(97D5 3 0 40 )资助
关键词
PD控制规则
机械手
重力补偿
无源性
输出反馈控制
关节空间
Robotic manipulator
PD control law
Gravity co mpensation
Passive property
Output feedback control
