| 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] |
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| 机器人的自校正控制 |
| 刘美华 |
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(自动控制系)
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| 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: |
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| Self-Tuning Controls of Robotic Manipulators |
| Liu Meihua |
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(Department of Automatic Control)
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| 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 |
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