基于参数估计的柔性机械臂控制方法

SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers Pub Date : 1995-07-26 DOI:10.1109/SICE.1995.526648

J. Park, Chongkug Park

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引用次数: 0

摘要

研究了单连杆柔性机器人机械手的自适应控制问题。采用ARMA模型作为预测和估计模型。参数估计部分使用递推最小二乘算法估计ARMA模型的系数并生成预测输出。为了实现有效的估计，引入了遗忘因子。

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The control method of a flexible robot manipulator using parameter estimation

This paper deals with the adaptive control of a one-link flexible robot manipulator. ARMA model is used as a prediction and estimation model. The parameter estimation part estimates ARMA model's coefficients using the recursive least-squares algorithm and generates the predicted output. Forgetting factor is introduced to achieve an efficient estimation.

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SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers

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