| 一个单臂机器人系统的非线性数字控制 |
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| 引用本文： | 史福元.一个单臂机器人系统的非线性数字控制[J].合肥工业大学学报(自然科学版),1990(3). |
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| 作者姓名： | 史福元 |
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| 摘 要： | 本主旨在为一单臂机器人系统设计和实现一个非线性数字控制规律,运用此种规律可以去除该系统的非线性。这一控制规律在M68000微处理机上得到实现。文中给出了实验结果和数据曲线,并对这一非线性控制规律中的各个项对系统性能的影响进行了分析。
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| 关 键 词： | 机器人 非线性 角速度估计器 转矩 补偿 |
A DIGI TAL NO NLI NEAR CO N TROL LAW FOR A,SI NGLE ARM MANIPULATOR SYSTEM |
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| Sni Fuyuan.A DIGI TAL NO NLI NEAR CO N TROL LAW FOR A,SI NGLE ARM MANIPULATOR SYSTEM[J].Journal of Hefei University of Technology(Natural Science),1990(3). |
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| Authors: | Sni Fuyuan |
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| Abstract: | The purpose of this paper is to design and implement a nonlinear digital control law that will disqualify the nonlinearities of a single arm manipulator system. This control law is implemented on a M68000 microcomputer and experiments are reported which investigate the effects of the various terms in the nonlinear control law on the performance. |
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| Keywords: | words robot manipulator nonlinearity angular velocity estimator torque comp- ensate |
| 本文献已被 CNKI 等数据库收录！ |
