| 解决奇异问题的机器人工作空间控制方案 |
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| 引用本文： | 蒋平,陈辉堂.解决奇异问题的机器人工作空间控制方案[J].同济大学学报(自然科学版),1991,19(4):383-393. |
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| 作者姓名： | 蒋平 陈辉堂 |
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| 作者单位： | 同济大学电气系，同济大学电气系，同济大学电气系 |
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| 摘 要： |
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| 关 键 词： | 机器人 工作坐标 自适应控制 |
A Control Scheme for Operating Manipulator near Singular Configurations |
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| Jiang Ping Chen Huitang Wang Yuejuan.A Control Scheme for Operating Manipulator near Singular Configurations[J].Journal of Tongji University(Natural Science),1991,19(4):383-393. |
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| Authors: | Jiang Ping Chen Huitang Wang Yuejuan |
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| Institution: | Department of Electrical Engineering |
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| Abstract: | Considering the fact that the uncertainty of robotic manipulators is mostly caused by unknown payloads, we give a transformation of robotic dynamics, which consists of two parts, one relating to the manipulator and the other relating to this payload based on the transformation. Variable space control scheme is introduced to avoid singularity of manipulator. We also point out that the control law can obviate the need to invert the Jacobian matrix completely without changing the control space if measurements of the manipulator's joint accelerations are available. |
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| Keywords: | Robot Adaptive control Task coordinates |
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