| 引用本文: | 胡晏如,常文森.机器人的分散控制.[J].国防科技大学学报,1988,10(2):27-33.[点击复制] |
| Hu Yanru,Chang Wensen.Decentralized Control of Robotic Manipulators[J].Journal of National University of Defense Technology,1988,10(2):27-33[点击复制] |
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| 机器人的分散控制 |
| 胡晏如, 常文森 |
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(自动控制系)
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| 摘要: |
| 本论文提出了一种新的机器人分散控制方法，这种分散控制方法把机器人系统的每个自由度作为一个子系统，首先从解耦子系统模型综合出 N个分散线性控制器，然后在每个子系统内引入一个自适应控制环补偿非线性耦合项的影响。这种分散控制器的优点是 ：控制器结构简单、计算量小、易于用多微机系统实现并行控制。 |
| 关键词: 机器人控制，分散控制 |
| DOI： |
| 投稿日期：1987-05-30 |
| 基金项目: |
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| Decentralized Control of Robotic Manipulators |
| Hu Yanru, Chang Wensen |
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(Department of Automatic Control)
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| Abstract: |
| This paper presents a decentralized control approach to robotic rnanipulators. Every degree of freedom of the robotic system is served as a subsystem by using the decentralized method. First we synthsize N decentralized linear controllers from the decoupled subsystem models of the robotic system. In order to compensate for the influence of nonlinearity and coupling we introduce an adaptíve loop into every subsystem. The advantages of the control law proposed are: the controller is simple; calculation time is small; the decentralized control proposed is convenient to be implemented by parallel microprocessor system. |
| Keywords: Robot control,Decentralized control |
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