摘要
基于李雅普诺夫直接法理论本文提出了一种新的机器人操作器自适应控制方法——计算力矩法.这种控制方法既考虑被传统计算力矩法所忽略了的机器人操作器真实参数与估计值之间的误差,又考虑机器人操作器高速运动时系统参数的快速变化.这种控制方法具有自适应性,因而不必事先知道系统参数;在闭环系统中,能保证机器人操作器动力学系统和参考模型之间的误差渐近趋近于零.最后,举出一例验证此法.
Based on the theory of Lyapunov's direct method,this paper proposes a new adaptive robotmanipulator control method.This method takes account of the errors between real parameters of themanipulators and estimated values of them which are ignored in conventional computed-torque approach.Morever fast changes in system parameters,when the robot moves at a high speed,are also considered inderiving the law.The method proposed assurcs the asymptotic stability of the closed-loop system of themanipulator.The control law can be used directly without prior knowledge of system parameters or as acompensator for the classical computed-torque scheme.This paper also presents simulations to illustratethe approach.
出处
《机器人》
EI
CSCD
北大核心
1989年第6期1-5,共5页
Robot
关键词
机器人
自适应控制
计算力矩法
robot
adaptive control
computed-torque approach
