摘要
基于最小时间-能耗指标,建立了一种新的适用于多关节机械手的最优控制。将建立的近最小时间-耗能控制器用于新研发的AMP-3包装机械手后3个关节,并在Matlab7.0环境下仿真。
Based on the smallest time-energy consumption target,a new optimal control used for multi-joint robot has been established.Make the establishment of near-minimum time-energy controller used on the three end joints of AMP-3,which is a new packing manipulator.And make a simulation in the Matlab7.0.
出处
《机械与电子》
2012年第5期75-77,共3页
Machinery & Electronics
关键词
时间-能耗
最优控制
平均动力学
仿真
time-energy consumption
optimal control
average dynamics
simulation
