| 引用本文: | 刘美华,常文森,张良起.机械手的显式递推牛顿-欧拉动力学及其分散自适应控制的并行方案.[J].国防科技大学学报,1988,10(4):45-55 ，116.[点击复制] |
| Liu Meihua,Chang Wensen,Zhang Liangqi.Explicit Recursive Newton-Euler Dynamics and Parallel Computation of Decentralized Adaptive Control for Robotic Manipulators[J].Journal of National University of Defense Technology,1988,10(4):45-55 ，116[点击复制] |
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| 机械手的显式递推牛顿-欧拉动力学及其分散自适应控制的并行方案 |
| 刘美华, 常文森, 张良起 |
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(自动控制系)
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| 摘要: |
| 文中推导了PUMA 560 机械手的显式递推牛顿-欧拉动力学方程，提出了分散自适应控制的并行实现方案。算法复杂性分析显示了该实现方案的高效性。 |
| 关键词: 机器人，分散控制，自适应控制，动力学，并行处理，人工智能 |
| DOI： |
| 投稿日期：1987-09-30 |
| 基金项目: |
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| Explicit Recursive Newton-Euler Dynamics and Parallel Computation of Decentralized Adaptive Control for Robotic Manipulators |
| Liu Meihua, Chang Wensen, Zhang Liangqi |
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(Department of Automatic Control)
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| Abstract: |
| In this paper，the explicit recursive Newton-Euler dynamic equations of PUMA 560 are derived and a parallel implementational scheme of decentralized adaptive control for robotic manipulators is presented. Analysis of algorithm computational complexity shows the high efficiency of the implementational scheme. |
| Keywords: Robot,Decentralized control,Adaptive control,Dynamics,Parallel processing,Artificial intelligence |
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