摘要
根据机器人动力学模型 ,设计一种离散形模型参考自适应控制系统 (MRAC)。MRAC使系统解偶 ,采用分布式计算机系统 ,对每个关节可独立进行实时控制、仿真和联机 ,实验表明系统精度高 ,适应性好。
A real-time parallel computational discrete time modet reference adaptive controll of robot is described,basing on a united decouple direct time dynamic model of robot.The method is decouple.Each degree of freedom of robot can be real-time cantrolled by distributed computer system.The simulation results show the method to be robust to follow the desire path very well.
出处
《电子工业专用设备》
2001年第2期39-44,共6页
Equipment for Electronic Products Manufacturing
