| 一种修磨机器人的最优控制法 |
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| 引用本文： | 刘德满,马先,杨华,刘宗富.一种修磨机器人的最优控制法[J].东北大学学报(自然科学版),1991(1). |
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| 作者姓名： | 刘德满 马先 杨华 刘宗富 |
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| 作者单位： | 东北工学院自动控制系
(刘德满，马先，杨华)，东北工学院自动控制系(刘宗富) |
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| 摘 要： | 为磨平有细微缝隙钢坯的修磨机器人(Smoothing and Grinding Robot)设计了一种最优控制器,这种控制器利用前馈力矩作为总体补偿和一个反馈增益校正轨线跟踪误差,不需要在线估计时变参数,也不必使机器人末端执行器跟踪一个不相关的参考模型的响应。最后,给出了SGR机器人的计算机仿真结果。
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| 关 键 词： | 机器人 最优控制 仿真 |
Optimal Control for Smoothing/Grinding Robot |
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| Liu Demon,Ma Xian,Yang Hua,Liu Zongfu.Optimal Control for Smoothing/Grinding Robot[J].Journal of Northeastern University(Natural Science),1991(1). |
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| Authors: | Liu Demon Ma Xian Yang Hua Liu Zongfu |
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| Abstract: | An optimal controller was designed for SGR , i, e. the robot serves the functions of smoothing and grinding semifinished steel having small cracks on surface . Utilizing a feedforward torque as gross compensation and a feedback gain to correct the follow-up errors in a path scheduled,the controller has neither need of making on-line estimate of time variables nor following up responses from a non-relevant model for reference by use of the terminal actuator of robot. Moreover, the results of computer simulation of SQR are included. |
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| Keywords: | robot optimal control simulation |
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