磁悬浮手腕的非线性解耦控制

ON NONLINEAR DECOUPLING CONTROL OF MAGNETICALLY LEVITA TED ROBOT WRISTS

摘要: 本论文分析了机器人手腕系统的控制问题，其中非线性观察器引进了美国S．Salcudean的研究成果²．本文对此作了仿真验证．并提出了新的解耦方法和控制方案（Bang-Bang控制）．经仿真证明Bang-Bang控制比S．Salcudean提出的PD控制具有更快的快速性和高精度．

Abstract: This paper analyses the control equation of robot wrist. The paper made simulation verification for S. Salcudeans research result on nonlinear observer (reference 2) and advanced a new decouple method and control scheme (Bang-Bang control).From the simulation curves we know Bang-Bang control is better than PD control in quick-response and precision.