徐国华, 蔡涛, 王滨. 自主式水下机械手关节速度伺服控制研究[J]. 机器人, 1999, 21(1): 57-63..
XU Guohua, CAI Tao, WANG Bin. A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT. ROBOT, 1999, 21(1): 57-63..
Abstract：In this paper,the principle and design of a new speed servocontrol system of autonomous underwater manipulator(AUM) joint has been discussed with detail.This system is a DC motor speed controller with negative voltage feedback plus positive current feedback.A new bridge DC DC converter with block diodes,controlled by TL494,is applied in this system.It is good for speed servocontrol of common robots or manipulators.
