自支撑原理:机器人运动控制的一种新方法

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240434

Z. Novakovic

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引用次数: 4

摘要

介绍了一种机械臂运动控制的方法，该方法在数学上既清晰又易于实现。获得这些特征的关键思想是一种赋予控制“自我”的自主性。它是根据自给自足的原则制定的。结果表明(并通过仿真实例说明)，这种理论是现有运动学控制概念的可行替代方案

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The principle of self-support: a new approach to kinematic control of robots

A methodology is introduced for kinematic control of manipulators, in a way that is both mathematically clear and simple to implement. The key idea used in obtaining these features is a kind of autonomy which is given to the control's 'self'. It is formulated in the principle of self-support. It is shown (and illustrated by a simulation example), that such a theory is a feasible alternative to existing kinematic control concepts.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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