沈廉. 机械臂控制的一种技术——计算机参考误差修正方法[J]. 机器人, 1987, 9(2): 26-31.
引用本文: 沈廉. 机械臂控制的一种技术——计算机参考误差修正方法[J]. 机器人, 1987, 9(2): 26-31.
SHEN Lian. A Robot Arm Control Technique——CREATE Method[J]. ROBOT, 1987, 9(2): 26-31.
Citation: SHEN Lian. A Robot Arm Control Technique——CREATE Method[J]. ROBOT, 1987, 9(2): 26-31.

机械臂控制的一种技术——计算机参考误差修正方法

A Robot Arm Control Technique——CREATE Method

  • 摘要: 本文介绍一种适用于机器人连续轨迹控制的新技术。它不是通过改变系统参数来改进控制品质,而是用迭代方法,计算出一条合理的参考输入,驱动机器人的输出精确地跟踪给定的轨迹。它并不取代传统的PID控制器,而是在其基础上进一步改善控制的动态品质,或加速机器人的工作速度,提高生产效率。仿真结果证明此算法是有效的。

     

    Abstract: A new control technique suitable to the continuous-path robot control is introdu-ced in this paper.In principle,this technique is not based on regulating the systemparameters to improve the control quality.It is actually based on computing a morereasonable input,which will drive the robot output to track a given trajectory precisely,by means of iterations.It is not applied to replace the conventional PID controller.Itis actually to improve the dynamical performance of control,or to accelerate the wo-rking velocity of robots,and then raise the productivity.The effectiveness of thistechnique has been verified by our simulation experiments.

     

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