论文部分内容阅读
为了提高工业机器人系统的整体效率,根据非线性强制控制的概念,设计了可以补偿未知参数变化和控制对象的非线性效应的简单的控制系统。本文较详细地介绍强制控制在工业机器人上的应用效果,其中也包含对动力源及机构元件等进行弹性补偿时的效果。图7幅。
In order to improve the overall efficiency of the industrial robot system, a simple control system that can compensate for the nonlinear parameters of unknown parameters and control objects is designed according to the concept of nonlinear forcing control. This paper introduces the effect of forced control on industrial robots in more detail, which also includes the effect of elastic compensation for power source and mechanism components. Figure 7 Figure.