机械臂鲁棒/spl / mu/-控制的数字化实现

Proceedings of 1994 American Control Conference - ACC '94 Pub Date : 1994-12-01 DOI:10.1109/ACC.1994.734999

M. Fujita, T. Namerikawa, K. Uchida

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引用次数: 1

摘要

在本文中，我们通过实验评估了基于dsp的控制器在机器人机械手采样周期下的性能。采用复杂结构奇异值/spl mu/来制定机器人鲁棒控制目标。然后采用/spl mu/-合成技术构造线性控制器。实验结果表明，高速dsp能够在机器人实时控制中发挥出优异的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Digital implementation of robust /spl mu/-control for a robot manipulator

In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value /spl mu/. Then the /spl mu/-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.

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Proceedings of 1994 American Control Conference - ACC '94

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