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．
- 机器人 /
- 非线性控制系统 /
- 自校正控制 /
- 前馈补偿 /
- 极点配置 /
- 并行处理
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.
- robot /
- manipulator /
- nonlinear control system /
- self-tuning control /
- feedforward compensation /
- pole assignment