柔性连杆机器人的非线性采样控制律

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240461

J. Barbot, B. Maschke, G. Servettaz

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引用次数: 1

摘要

本文简要介绍了用假设模态法进行空间离散的两连杆柔性结构欧拉-伯努利梁模型。利用连续时间非线性控制律对输入输出行为进行解耦和线性化。该控制律的实现需要引入生成采样控制律的数字计算机。在这里考虑的情况下，在每个采样间隔内保持连续时间控制会导致稳定性的丧失。因此，使用了不同的非线性离散时间控制律:它们基于由形式李氏导数的指数得到的离散化过程。

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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Nonlinear sampled control laws of a robot with flexible links

A model of a flexible structure composed of two links, considered as Euler-Bernouilli beams and spatially discretized using the assumed mode method is briefly presented. A continuous-time nonlinear control law is recalled, which decouples nd linearizes the input output behaviour. The implementation of this control law requires the introduction of a digital computer generating a sampled control law. Holding the continuous-time control during each sampling interval leads, in the case considered here, to the loss of the stability properties. Therefore different nonlinear discrete-time control laws are used: they are based on discretization procedures obtained by means of the exponential of formal Lie derivatives.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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