四自由度多关节机器人自适应控制系统的研究

RESEARCH OF AN ADAPTIVE CONTROL SYSTEM FOR A 4-DOF MULTI-JOINT ROBOT

摘要: 本文根据自适应控制理论对四自由度多关节机器人自适应控制系统进行了设计与研究．文中提出的自适应控制方法和控制规律简单易行，显著地缩短了控制计算时间．也可推广到其他的控制系统上使用．

Abstract: Based on adaptive control theroy, the design and research of an adaptive control system for a 4-DOF multi-joint robot is discussed. The adaptive control method and the control rule can be applied to othercontrol systems as well.