机器人鲁棒轨迹控制

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788) Pub Date : 2004-06-15 DOI:10.1109/WCICA.2004.1343649

Lixin Wei, Hong-rui Wang, Ying Li

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引用次数: 0

摘要

针对机器人动力学的不确定性，提出了一种机器人轨迹控制方案。进一步分析了被控系统的稳定性。仿真结果表明，该方法对机器人系统的一些参数不确定性和随机干扰具有较好的鲁棒性。

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Robust trajectory control for robot

A kind of robot trajectory control scheme for the uncertainty of robot dynamics is proposed in this paper. Furthermore, the stability of the controlled system is analyzed. The simulation demonstrates that the method has good robustness for some parameter uncertainties and random disturbance of the robot system.

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来源期刊

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)

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