摘要
为了实现高速、高精度的机械手的控制,本文将自适应前馈补偿控制与变结构理论相结合,给出了一种新的鲁棒性控制方法.通过对机械手的实时控制,证明了该方法是可行的.
In order to realize high-speed, high-precision control of robot manipulators, a new robust control algorithm is proposed by coupling the adaptive feedforward compensator to the variable structure control. Real-time control results show the validity and feasibility of the presented method.
出处
《自动化学报》
EI
CSCD
北大核心
1991年第5期531-536,共6页
Acta Automatica Sinica
关键词
机械手
前馈补偿
变结构控制
Robot manipulator
variable structure control
feedforward compensation
application
