机器人多级自适应控制器的设计与数字仿真

DESIGN AND DIGITAL SIMULATION OF MULTI-GRADE ADAPTIVE ROBOT CONTROLLER

摘要: 本文提出了用多级自适应控制的方法实现机器人关节系统的自适应控制，并给出了两级自适应控制器的设计方法．最后以某机器人关节系统为对象对两级自适应控制器进行了仿真分析．

Abstract: In this paper,the multi-grade adaptive control method is put forward to realize the adaptive control of arobot,and the design of a two-grade adaptive controller is presented.Finally,simulation of the controller iscarried out.