多关节机器人自适应控制的一种VLSI并行化方法

A VLSI METHOD FOR ADAPTIVE CONTROL BASED ON MULTI-JOINT ROBOT

  • 摘要: 本文基于超大规模集成(VLSI)的脉动(Systolic)结构,提出了实现机器人线性化模型的参数辨识及自适应控制中扰动力矩的并行计算方法.时序分析表明,该方法可使机器人自适应控制中扰动力矩计算的实时性得到很大提高.

     

    Abstract: New systolic algorithms and efficient arrays are proposed for multi-joint robotic parameter estimation and adaptive moment control. These new control algorithms combining the advantage of the fine-grain VLSI architecture can improve the real-time control efficiently. The analysis shows that the methods have high degree of parallelism and processor utilization.

     

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