新的机器人自校正控制方案

刘美华, 林威, 黄一夫. 新的机器人自校正控制方案[J]. 机器人, 1987, 9(1): 18-23.

引用本文:

刘美华, 林威, 黄一夫. 新的机器人自校正控制方案[J]. 机器人, 1987, 9(1): 18-23.

LIU Meihua, LIN Wei, HUANG Yifu. New Self-Tuning Control Schemes for Robotic Manipulators[J]. ROBOT, 1987, 9(1): 18-23.

Citation:

LIU Meihua, LIN Wei, HUANG Yifu. New Self-Tuning Control Schemes for Robotic Manipulators[J]. ROBOT, 1987, 9(1): 18-23.

New Self-Tuning Control Schemes for Robotic Manipulators

摘要: 本文提出了两种新的机器人联合关节自校正隐式控制方案；在三自由度机器人上在强负载扰动下对这两种方案进行了仿真检验，由此显示了其控制有效性，并对两者进行了性能比较．

Abstract: Two new associated-joint implicit self-tuning control schemes for robotic mani-pulators are proposed.Simulations to a 3-degree-of-freedom manipulator under strongload disturbances are presented to demonstrate the effectiveness of and.to make aperformance comparison between these two schemes.

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