机械手的线性扰动和模型跟随自适应控制方案的仿真研究
SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS
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摘要: 本文提出了机械手在关节坐标系中的引入积分作用的线性扰动自适应控制和引入重力补偿的模型跟随自适应控制方案．在 PC/XT 机上的仿真结果表明，上述两个控制方案，即使在负载未知时也能使机械手跟随期望轨迹．Abstract: This paper proposes a linear perturbation adaptive control scheme with integrators and a model fol-lowing control scheme with gravity compensation for robot manipulators.Simulation results show that the two schemes can make manipulators follow a desired orbit while the load is unknown.
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