基于特征模型的柔性关节机械臂的控制

A Study on Characteristic Model Based Control for Flexible Joint Manipulator

基于特征建模的思想,用二阶时变差分方程形式建立柔性关节机械臂特征模型,并应用该模型结合自适应控制对柔性关节机械臂控制进行了研究。该方法的特点是不需要计算系统的动力学模型,只根据系统的输入输出通过参数估计算法估计出时变差分方程的参数,设计智能控制器,它设计简单,使用方便。通过仿真研究表明该方法的有效性。

The plant characteristic model description of flexible joint manipulator is carried out by using second order time varying difference equation, and the characteristic model based control of flexible joint manipulator combined with adaptive control method is constructed. The main idea of this method is to design intelligent controller by means of estimating the parameters of the equation according to the input and output of the system without computing the dynamic model of the system. It is simple and feasible. Comparing simulation results to that from other method can prove the effectiveness of the method.