量测误差对机械手适应控制的影响
Influence of Measurement Errors on Adaptive Control of Robot Arms
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摘要: 机械手的动力学方程依赖于广义位置坐标q及其一、二阶导数、广义力矩及未知参数θ0 对q及q的量测一般带有误差.本文在估计θ的同时给出控制律,使平均跟踪误差和量测误 差为同一数量级.Abstract: The dynamics of the robot arm depends on the generalized coordinate q and its first and second derivatives, on the generalized moment and on the unknown parameter θ as well. The measurements of q and q are corrupted with noise. The control purpose consists in forcing q to follow a desired trajectory qa. This paper provides an adaptive control based on parameter estimation for θ and shows that the averaged tracking error is of the same order as the measurement error.
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Key words:
- robot arm /
- adaptive control /
- measurement error
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