| 机器人多传感器多速率采样控制系统研究 |
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| 引用本文： | 郭呈贺,钱文瀚.机器人多传感器多速率采样控制系统研究[J].上海交通大学学报,1997,31(9):61-67. |
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| 作者姓名： | 郭呈贺 钱文瀚 |
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| 作者单位： | 钱文瀚，上海交通大学机器人研究所 |
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| 摘 要： | 论述了机器人多传感器多速率采样控制系统的设计问题。讨论了采样速率的选择原则，描述连续域被控对象经多速率采样后的数学模型，并推导出有约束最优控制的设计方法，最后给出两关节机械手多速率采样控制系统的设计实例。仿真结果表明，该方法实用可行，设计结果较同运算量的单速率采样系统为优。
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| 关 键 词： | 机器人 传感器 控制系统 采样速率 极点配置 |
New Multi Sensor and Multi Sampled Rate Control System for Robots |
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| Guo Chenghe,Qian Wenhan.New Multi Sensor and Multi Sampled Rate Control System for Robots[J].Journal of Shanghai Jiaotong University,1997,31(9):61-67. |
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| Authors: | Guo Chenghe Qian Wenhan |
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| Abstract: | The design of a multi sensor and multi sampled rate control system for robots is presented.The criteria to choose the sample rate is discussed and the discretized model for the special control system is described.Consequently,a constraint optimal control method for the multi sampled rate system is inferred by means of the discretization model,which is applied into the control of a two link robot.The simulation results show that the method is useful and the multi rate compensator is better than the single rate one with the same real time computation load. |
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| Keywords: | robot sensors control systems sampled rate multi rate(MR) single rate(SR) |
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