液压关节型机器人解耦控制的数字仿真与实验研究

罗绍维; 栗波; 吴振顺

罗绍维, 栗波, 吴振顺. 液压关节型机器人解耦控制的数字仿真与实验研究[J]. 机器人, 1990, 12(5): 46-50.

引用本文:

罗绍维, 栗波, 吴振顺. 液压关节型机器人解耦控制的数字仿真与实验研究[J]. 机器人, 1990, 12(5): 46-50.

LUO Shaowei, LI Bo, WU Zhenshun. DIGITAL SIMULATION AND EXPERIMENTAL RESEARCH OF THE DECOUPLING CONTROL OF JOINTED ARTICULATED HYDRAULIC ROBOT[J]. ROBOT, 1990, 12(5): 46-50.

Citation:

LUO Shaowei, LI Bo, WU Zhenshun. DIGITAL SIMULATION AND EXPERIMENTAL RESEARCH OF THE DECOUPLING CONTROL OF JOINTED ARTICULATED HYDRAULIC ROBOT[J]. ROBOT, 1990, 12(5): 46-50.

液压关节型机器人解耦控制的数字仿真与实验研究

DIGITAL SIMULATION AND EXPERIMENTAL RESEARCH OF THE DECOUPLING CONTROL OF JOINTED ARTICULATED HYDRAULIC ROBOT

摘要

摘要: 本文根据多变量控制系统的解耦理论．采用不变性原理而导出的解耦方法．经数字仿真与实验研究，证明此种解耦方法对于消除交连耦合是有效的．

Abstract: This paper presents a method which is based on the decoupling theory of multi-variables control system andinvariability principle. The applicability of our method especially the efficiency of cross coupling climination wasproved by digital simulation and experimental rescarch.

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