Abstract
本文研究了存在扰动和参数不确定因素时机器人的轨迹跟踪控制问题。给出了一种鲁棒计算力矩控制方案，它由改进力矩发生器和鲁棒补偿器组成，该方案具有下述特点：① 不依赖精确机器人模型；② 容忍一定程度的计算误差。这给模型简化、减轻控制计算机运算负担、缩短运算时间提供了一条途径；③ 保证被控机器人具有渐近跟踪理想轨迹的能力。这些结论通过仿真实验已初步得到证实。
This paper studies the path tracking control problem of robot manipulator in the presence of uncertainty. A robust computed torque control strategy is presented. It is shown that with this strategy, the tracking convergence is ensured.
This paper studies the path tracking control problem of robot manipulator in the presence of uncertainty. A robust computed torque control strategy is presented. It is shown that with this strategy, the tracking convergence is ensured.
| Translated title of the contribution | Robust computed torque control of robot manipulators with uncertainties |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 6-11 |
| Number of pages | 6 |
| Journal | 机器人 = Robot |
| Volume | 3 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Dec 1989 |
| Externally published | Yes |
Funding
国家自然科学基金资助项目
Keywords
- 机器人
- 鲁棒性
- 轨迹跟踪控制
- robot manipulato
- robust
- path tracking control