基于改进PD算法的机器人位置控制研究

2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2019-06-01 DOI:10.1109/YAC.2019.8787668

Gao Guoyou, Jiang Chunsheng, Chen Tao, Hui Chun, Wu Lina, Liang Zifan

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引用次数: 0

摘要

为了研究多关节机器人运动函数的数学性质，提出了一种基于Lyapunov函数的机器人关节角控制方法。在机器人运动学模型的基础上构造了能量函数，并利用不变集理论研究了PD控制器的稳定性，仿真结果证明了该控制系统根据阶跃信号响应具有良好的动态性能。

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Research on Robot Position Control Based on Improved PD algorithm

This work aims to research mathematical properties of kinematic function for multi-joint robot, a Lyapunov function based method is presented to realize the robot joint angle control. Energy function is constructed based on the robot kinematic model and the stability of the PD controller is researched through invariant set theory, the simulation results prove that the control system has good dynamic performance according to step signal response.

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2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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