基于归一化准速度的重力控制新算法

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791059

K. Kozlowski, P. Herman

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引用次数: 4

摘要

本文提出了一种用准速度表示动力学的机械臂控制算法。与我们以前的算法(1995)相反，这个算法也考虑了引力。基于准速度的机器人动力学算法本质上是递归的，它由两个递归组成:一个从机械臂的底部向其尖端开始，另一个向相反方向开始。这两种递归都用向量矩阵表示法来描述。所提出的算法使系统在李雅普诺夫意义下稳定。在二自由度机械臂模型上对该算法进行了验证。

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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A new control algorithm in terms of normalized quasi-velocities with gravitational forces

This paper presents a new control algorithm for manipulators whose dynamics is expressed in terms of quasi-velocities. In contrary to our previous algorithms (1995) this one also considers gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the other in opposite direction. Both recursions are described by using vector-matrix notation. The algorithm presented makes the system stable in the sense of Lyapunov. The algorithm was tested on the model of a manipulator with two degrees of freedom.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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