机器人轨迹跟踪自适应控制

Adaptive Trajectory Following Control for Robot Manipulators

本文提出一种新的自适应控制算法,用于补偿机器人动力学方程中的非线性项和消除关节间的耦合。这种简单有效的控制算法,保证了系统在一定的参数变化范围内具有渐近稳定性和良好的控制精度。

A new adaptive control algorithm is proposed in this paper to compensate nonlinear terms in the dynamic equation of robot and decouple the dynamic interaction among the joints. The design proce-dure is simple and effective and always assures the asymptotic sta-bility under system variations and parameter uncertainties.