This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- ...This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.展开更多
针对网络控制系统(networked control system,NCS)中随机时延导致系统性能下降的问题,利用粒子群优化(particle swarm optimization,PSO)的最小二乘支持向量机(least square support vector machine,LSSVM)建立NCS中随机时延预测模型,...针对网络控制系统(networked control system,NCS)中随机时延导致系统性能下降的问题,利用粒子群优化(particle swarm optimization,PSO)的最小二乘支持向量机(least square support vector machine,LSSVM)建立NCS中随机时延预测模型,精确预测未来时刻的时延;同时利用该预测算法预测的时延通过快速隐式广义预测控制算法对NCS随机时延进行补偿。仿真结果表明,PSO优化的LS-SVM算法对随机时延具有较高的预测精度,同时快速隐式广义预测控制算法可使系统的输出很好地跟踪参考轨迹,保证系统良好的控制效果。展开更多
文摘This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.
基金国家自然科学基金项目(50747026)广西科学基金项目(0728027)+5 种基金广西研究生教育创新计划资助项目(GXU11T32516GXU11T32598)Project Supported by National Natural Science Foundation of China(50747026)Guangxi Natural Science Foundation(0728027)Innovation Project of Guangxi Graduate Education(GXU11T32516GXU11T32598)
文摘针对网络控制系统(networked control system,NCS)中随机时延导致系统性能下降的问题,利用粒子群优化(particle swarm optimization,PSO)的最小二乘支持向量机(least square support vector machine,LSSVM)建立NCS中随机时延预测模型,精确预测未来时刻的时延;同时利用该预测算法预测的时延通过快速隐式广义预测控制算法对NCS随机时延进行补偿。仿真结果表明,PSO优化的LS-SVM算法对随机时延具有较高的预测精度,同时快速隐式广义预测控制算法可使系统的输出很好地跟踪参考轨迹,保证系统良好的控制效果。
