冗余机器人的自校正控制器设计
The Design of Self-Tuning Controller for Redundant Manipulators
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Abstract: This paper presents; a linear input-output perturbation difference model and a self-tuning control scheme for redundant robotic manipulators. The effectiveness of the proposed control scheme is demonstrated by simulation studies.
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Key words:
- Manipulators /
- robots /
- nonlinear control systems /
- self-tuning control /
- redundancy
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