刘海臣. 电驱动机器人手臂可控性分析[J]. 机器人, 1989, 11(4): 17-21,27..
LIU Haichen. AN ANALYSIS OF THE CONTROLLABILITY OF AN ELECTRICALLY DRIVEN ROBOT ARM. ROBOT, 1989, 11(4): 17-21,27..
Abstract：This paper,based on an electrically driven robot manipulator,has formulated a dimensionlessmathematical model of its control system.Next it analyzes the controllability of both the linearized sys-tem and the real nonlinear system due to many nonlinear factors of the system itself and due to the limita-tion of the source voltage.All results show that when the system is considered as linear,it is completelycontrollable.But under certain conditions we connot by using ordinary state feedback control realizc itscomplete controllability which however may be attained by utilizing intelliegent controllcr,i.e.,acomputer-based nonlinear controller with appropriate control strategy.
