刘美华, 林威. 机器人的独立关节极点配置自校正控制方案[J]. 机器人, 1988, 10(1): 29-34.
引用本文: 刘美华, 林威. 机器人的独立关节极点配置自校正控制方案[J]. 机器人, 1988, 10(1): 29-34.
LIU Meihua, LIN Wei. Separate-joint Pole Assignment Self-tuning Control Schemes for Robotic Manipulators[J]. ROBOT, 1988, 10(1): 29-34.
Citation: LIU Meihua, LIN Wei. Separate-joint Pole Assignment Self-tuning Control Schemes for Robotic Manipulators[J]. ROBOT, 1988, 10(1): 29-34.

机器人的独立关节极点配置自校正控制方案

Separate-joint Pole Assignment Self-tuning Control Schemes for Robotic Manipulators

  • 摘要: 本文采用独立关节极点配置自校正控制方式,提出了两种对文献〔1〕改进的机器人控制方案.仿真研究和算法的在线计算量估计,显示了其控制有效性和算法简易性.最后给出了前馈额定力矩离线计算、在线自校正控制算法采用多CPU并行处理的实现方案.

     

    Abstract: This paper,based on paper〔1〕,proposes two pole assignment self-tuning controlschemes for robotic manipulators by using the separate-joint control technique.Simulation studies and estimations of their on-line computational quanta are presented todemonstrate their effectiveness and simplicity.An efficient implementation scheme issuggested,in which the nominal torques are computed off-line and multiple CPU’s areused for parallel processing of the on-line self-tuning control algorithm.

     

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