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人工肌肉是一种广泛应用于医疗机器人、工业机器人等领域的柔性驱动器。本文采用零极点配置自适应预测控制方案 ,对系统的滞后进行了补偿 ,试验结果表明 ,该方案能有效地提高人工肌肉系统的控制速度和控制精度
Artificial muscle is a flexible actuator that is widely used in medical robots, industrial robots and other fields. In this paper, the zero-pole configuration adaptive predictive control scheme is used to compensate for the system lag. The experimental results show that this scheme can effectively improve the control speed and accuracy of artificial muscle system