机械臂自适应跟随控制模型

Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482) Pub Date : 2000-01-19 DOI:10.1109/ICIT.2000.854096

J.P. Tewari, A. Kapoor

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引用次数: 6

摘要

提出了一种机器人轨迹跟踪控制方案。该方法采用基于超稳定性概念的模型参考自适应控制策略来纠正与期望轨迹的偏差。该控制方案考虑了机械臂的动力学非线性、几何非线性和物理非线性、传动系动力学和动力学耦合。计算机仿真验证了该控制方案的可行性。

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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An adaptive model following control for robotic manipulators

A control scheme is presented for trajectory following with robotic manipulators. The method employs a model-referenced adaptive control strategy based on the concepts of hyperstability for correcting deviations from the desired trajectory. The control scheme takes into account dynamic nonlinearities, geometrical and physical nonlinearities, the drive-train dynamics as well as dynamic coupling present in a manipulator. Computer simulations are given to demonstrate the feasibility of the control scheme.

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来源期刊

Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)

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