机械手的自适应前馈补偿变结构控制及其微机实现
Variable Structure Control of Robot Manipulator with Adaptive Feedforward COmpensator and its Implementation
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摘要: 为了实现高速、高精度的机械手的控制,本文将自适应前馈补偿控制与变结构理论相结 合,给出了一种新的鲁棒性控制方法.通过对机械手的实时控制,证明了该方法是可行的.Abstract: In order to realize high-speed, high-precision control of robot manipulators, a new robust control algorithm is proposed by coupling the adaptive feedforward compensator to the variable structure control. Real-time control results show the validity and feasibility of the presented method.
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Key words:
- Robot manipulator /
- variable structure control /
- feedforward compensation /
- application
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