MIMO最小实现技术综述及SCARA机器人机械手实例研究

Q1 Mathematics

International Review of Automatic Control Pub Date : 2017-03-31 DOI:10.15866/IREACO.V10I2.10862

Karim Cherifi, K. Hariche

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引用次数: 2

摘要

本文综述了线性时不变MIMO系统的主要最小实现技术。本文的主要目的是评估和比较这些技术，包括协素数方法，在实现配置，空间和时间的复杂性方面，使用一个案例研究:SCARA机器人机械手。所得结果对离散系统和连续系统都是有效的。

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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Review of MIMO Minimal Realization Techniques and Case Study on SCARA Robot Manipulator

This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.

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来源期刊

International Review of Automatic Control Engineering-Control and Systems Engineering

CiteScore

2.70

自引率

0.00%

发文量