引用本文: | 刘美华.机器人的自校正控制[J].国防科技大学学报,1987,(4):18-26.[点击复制] |
Liu Meihua.Self-Tuning Controls of Robotic Manipulators[J].Journal of National University of Defense Technology,1987,(4):18-26[点击复制] |
|
|
|
本文已被:浏览 4749次 下载 5494次 |
机器人的自校正控制 |
刘美华 |
(自动控制系)
|
摘要: |
本文从统一的角度给出了四种机器人的自校正控制方案,并通过仿真研究和算法的在线计算量估计,就控制性能和易实现性两个方面对各方案进行了比较。 |
关键词: 机器人 自校正控制 自适应控制 控制器 |
DOI: |
投稿日期:1987-01-02 |
基金项目: |
|
Self-Tuning Controls of Robotic Manipulators |
Liu Meihua |
(Department of Automatic Control)
|
Abstract: |
Four se1f-tuning control schemes for robotic manipulators are developed in a unified frame. Simulation results of these schemes on a 3-DOF manipulator and estimations of their computational quanta are presented to demonstrate the effectiveness and simplicity of these schemes and to make comparisons among them. |
Keywords: robots Manipulators Self-tuning control Adaptive control controllers |
|
|