摘要
本文从欠驱动机器人运动方程与控制算法、被动关节的位置控制、轨迹跟踪控制以及欠驱动冗余度机器人模型仿真几个方面入手,对欠驱动冗余度机器人的运动优化控制提出建议。
In this paper,motion equations and control algorithms of underactuated robots,position control of passive joints,trajectory tracking control and model simulation of underactuated redundant robots are discussed.Suggestions on motion optimization control of underactuated redundant robots are put forward.
作者
王军
王瑞
Wang Jun;Wang Rui(Qinhuangdao Branch of Northeast Petroleum University,Qinhuangdao Hebei,066004;Jidong Oilfield Power Supply Company,Tangshan Hebei,063000)
出处
《电子测试》
2018年第17期136-137,共2页
Electronic Test
关键词
欠驱动
冗余度
机器人
运动优化控制
underactuated
redundancy
robot
motion optimization control
