| 机器人动态过程的模型跟随自适应控制 |
| |
| 引用本文： | 唐建中,杨公仆,阳含和. 机器人动态过程的模型跟随自适应控制[J]. 西安交通大学学报, 1988, 0(5) |
| |
| 作者姓名： | 唐建中 杨公仆 阳含和 |
| |
| 作者单位： | 西安交通大学机械工程系(唐建中，杨公仆)，西安交通大学机械工程系(阳含和) |
| |
| 摘 要： | 为适应近代机器人的高运动性能要求,必须进一步提高机器人的动态控制水平。为此,本文提出了一种模型跟随自适应控制系统及计算机算法、并进行了模拟研究。结果表明了所提出控制算法的有效性及对机器人运动过程中动态特性变化的适应性。由于不包含参数估计器、从而提高了实时自适应性能。
|
| 关 键 词： | 自适应控制 机器人 模型跟随 |
MODEL FOLLOWINC ADAPTIVE CONTROL OF THE ROBOT MANIPULATOR DYNAMICS |
| |
| Tang Jianzhong,Yang Gongpu,Yang Hanhe. MODEL FOLLOWINC ADAPTIVE CONTROL OF THE ROBOT MANIPULATOR DYNAMICS[J]. Journal of Xi'an Jiaotong University, 1988, 0(5) |
| |
| Authors: | Tang Jianzhong Yang Gongpu Yang Hanhe |
| |
| Affiliation: | Department of Mechanical Engineering |
| |
| Abstract: | In order to keep abreast of the high performance of modern robot mani-pulator, dynamic control level of the robot arm must be raised. In this paper,a model following adaptive control system and computer algorithm are pro-posed. Computer simulation study is carried out. Simulation results show thevalidity of proposed control algorithm and its adaptability to the change ofdynamic process of the robot manipulater's motion. Owing to leaving out para-meter estimator, real-time adaptive performance is thus enhanced. |
| |
| Keywords: | adaptive control robots model following |
| 本文献已被 CNKI 等数据库收录！ |
