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| 机器人腕关节伺服系统的变结构控制 | |
| 引用本文： | 周光华 钟福全. 机器人腕关节伺服系统的变结构控制[J]. 电气传动, 1989, 19(4): 56-59 |
| 作者姓名： | 周光华 钟福全 |
| 作者单位： | 东南大学，东南大学，东南大学 |
| 摘 要： | 基于不连续控制的滑模变结构控制理论,具有控制算法简单,易于实现,系统鲁棒性强等特点。本文针对一类特殊的伺服运动——机器人关节运动,采用变结构理论,做了一些设计工作,仿真结果和实际调试,证实了变结构控制的有效性。 |
| 关 键 词： | 机器人 伺服系统 结构控制 |
Variable Structure Control of Robot Wrist Joint Servosystem |
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| Zhou Guanghua Zhong Fugin Zhao Jiabi. Variable Structure Control of Robot Wrist Joint Servosystem[J]. Electric Drive, 1989, 19(4): 56-59 | |
| Authors: | Zhou Guanghua Zhong Fugin Zhao Jiabi |
| Affiliation: | Zhou Guanghua Zhong Fugin Zhao Jiabi |
| Abstract: | The sliding mode variable structure control system based on discontinous control have vantages on such aspects as being insensitive to certain parameter variations and disturbances, ad requiring little computational effort,In this paper,by means of variable structure control (VSC),some designs are made towards a special kind of servosystems-robot wrist joint mot(?)on. Simulation and actual debu gging prove the high quality of VSC. |
| Keywords: | Sliding modes Variable structure control Robot wrist joint servosystem |
| 本文献已被 CNKI 维普 等数据库收录！ | |