摘要
在实现机器人手臂非线性解耦的基础上,提出一种动力学控制方案和改进方案,后者能自动适应对各种不同运动轨迹的跟踪.该方案针对Motoman-L10W焊接机器人进行了数字仿真试验,其结果显示了所设计的控制器具有良好的动态跟踪特性和鲁棒性.此外,还进一步探讨了实现控制算法的可能性.
Based on the principles of nonlinear decoupling in robot arms,a
dynamic control scheme as well as the approach for its improvement is presen-
ted in this paper.The scheme is self-adaptable to various motion trajectories.
Numerical simulations tested on a Motoman-L10W are welding robot show
nice dynamic tracking characteristics and robustness of the designed contro-
ller.The possibility of implementing the control algorithm is further dis-
cussed.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1989年第6期91-100,共10页
Journal of Shanghai Jiaotong University
关键词
机器人
动力学
控制
非线性解耦
robot
nonlinear decoupling
dynamic control
robustness
