摘要
本文提出了一种机器人鲁棒性自校正控制的新方法,同时提出了一种带有调节参数的广义最小二乘在线递推辨识方法,给出了辨识参数的收敛性和跟踪误差有界性证明;并以三自由度PUMA机器人操作手为例在强负载扰动下进行了仿真实验,其结果表明此方案是有效的.
This paper suggests a robust self-tuning control method for robotic manipulators, and gives a kind of generalized least squares on-line recursion identification scheme with adjusted parameters.We also give a proof of parameters convergency and error bounded during limited.Furthermore simulations to a three-degree-of-freedom PUMA manipulator were carried out under strong load disturbance.The ??ults show that this scheme is effective.
关键词
机器人
鲁棒性
自校正控制
robots
robust
self-tuning control
generalized least square identification
