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本论文提出了一种新的机器人分散控制方法,这种分散控制方法把机器人系统的每个自由度作为一个子系统,首先从解耦子系统模型综合出N个分散线性控制器,然后在每个子系统内引入一个自适应控制环补偿非线性耦合项的影响。这种分散控制器的优点是:控制器结构简单、计算量小、易于用多微机系统实现并行控制。
In this dissertation, a new decentralized robot control method is proposed. In this decentralized control method, each degree of freedom of the robot system is regarded as a subsystem. First, N decentralized linear controllers are synthesized from the decoupled subsystem model. Then, An adaptive control loop is introduced into the subsystem to compensate for the influence of nonlinear coupling term. The advantages of this decentralized controller are: The controller has the advantages of simple structure, small amount of calculation, and easy implementation of parallel control by multi-computer system.