摘要
本文提出一种可以使机器人直接跟踪直角坐标轨线而无须进行坐标变换的控制方法.文中将讨论这种方法的物理意义,证明Lyapunov全局稳定性,并给出在PUMA 560模型上进行模拟实验的结果.
This paper studies the feasibility of the trajectory control for robot manipulators in the operational space without coordinate transformation. We will first discuss the control algorithm proposed in this paper and its physical background. Second, we will show this control strategy is Lyapunov globally asymptotically stable. Third, some simulation results inclnding that obtained on the PUMA 560 model will be illustrated and explained.
出处
《自动化学报》
EI
CSCD
北大核心
1991年第1期33-39,共7页
Acta Automatica Sinica
基金
国家自然科学基金
关键词
机器人
直角坐标系
轨线控制
Robot control
operational space
trajectory tracking
Lyapunov stability
