| 机器人的一种自校正控制算法 |
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| 引用本文： | 喻明,胡亚光.机器人的一种自校正控制算法[J].华中科技大学学报(自然科学版),1987(4). |
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| 作者姓名： | 喻明 胡亚光 |
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| 作者单位： | 华中工学院自动控制工程系
(喻明)，华中工学院自动控制工程系(胡亚光) |
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| 摘 要： | 本文给出了一种新的、结构简单的机器人数学模型。把文献1]的结果扩展并应用于机器人的轨迹控制,并导出了一种新的机器人自校正控制算法。仿真结果证实了本文所提方法的可行性。
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| 关 键 词： | 机器人 离散化 极点配置 动力学模型 自校正控制 最小方差 |
A Self-Tuning Control Algorithm for Robotic Manipulators |
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| Yu Ming Hu Yaguang.A Self-Tuning Control Algorithm for Robotic Manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1987(4). |
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| Authors: | Yu Ming Hu Yaguang |
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| Institution: | Yu Ming Hu Yaguang |
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| Abstract: | A new mathematical model for robotic manipulators is described, which is simple and has less parameters as compared with existing models. Some of the results presented in 1] are extended and applied to the path tracking to compensate for the severe nonlinear coupling between the various joints. A new self-tuning control algorithm is proposed, the feasibility of which is verified by simulation on a three DOF robotic manipulator. |
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| Keywords: | Robots Discretization Pole placement Dynamic model Self-tuning control Minimum variance |
| 本文献已被 CNKI 等数据库收录！ |
