【摘 要】
：
针对多关节刚性串联机器人多输入多输出特点,提出了一种新的分散完全自适应前馈反馈控制方法。该方法仅需知道机器人关节数目,即可设计控制器,能够保证系统渐近稳定。由于采
【机 构】
：
中国石油大学(华东)机电学院,浙江工业大学信息工程学院,
论文部分内容阅读
针对多关节刚性串联机器人多输入多输出特点,提出了一种新的分散完全自适应前馈反馈控制方法。该方法仅需知道机器人关节数目,即可设计控制器,能够保证系统渐近稳定。由于采用分散控制形式,该方法具有结构简单,运算效率高,易于实现等特点。运用Lyapunov方法分析了系统稳定性,最后通过数值仿真验证了该方法的有效性。
Aiming at the multi-input and multi-output multi-joint rigid serial robot, a new decentralized fully adaptive feedforward feedback control method is proposed. The method only needs to know the joint number of the robot to design the controller, which can ensure the asymptotic stability of the system. Due to the decentralized control mode, the method has the advantages of simple structure, high operation efficiency and easy realization. The stability of the system is analyzed by Lyapunov method. Finally, the numerical simulation shows the effectiveness of the method.
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