| 手臂机器人网络教学实验系统控制算法开发与实验 |
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| 引用本文： | 肖会芹,吴敏,桂卫华.手臂机器人网络教学实验系统控制算法开发与实验[J].湖南工业大学学报,2006,20(2). |
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| 作者姓名： | 肖会芹 吴敏 桂卫华 |
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| 作者单位： | 1. 中南大学,信息科学与工程学院,湖南,长沙,410083;湖南工业大学,电气工程系,湖南,株洲,412008
2. 中南大学,信息科学与工程学院,湖南,长沙,410083 |
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| 摘 要： | 开发了极点配置、积分分离和最优跟踪控制3种控制策略,并描述了这些控制算法的基本内容、输入控制参数设计、实验目的和实验过程。实验证明,该系统是学生掌握控制理论与技术的一种切实可行的实验教学系统。
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| 关 键 词： | 手臂机器人 网络控制 控制算法 教学设备 |
Development of Control Algorithms of a Networked Teaching and Experiment System Using Arm Robots |
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| XIAO Hui-qin,WU Min,GUI Wei-hua.Development of Control Algorithms of a Networked Teaching and Experiment System Using Arm Robots[J].Journal of Hnnnan University of Technology,2006,20(2). |
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| Authors: | XIAO Hui-qin WU Min GUI Wei-hua |
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| Abstract: | The networked teaching and experiment system using arm robot(NTESAR) is a laboratorial system that several platforms can be remotely controlled and surveillanced through Internet.Formerly this system just has two control algorithms of rate-feedback and PID.In order to satisfy the need of teaching, this article appends pole assignment algorithm,integral separated algorithm and optimal tracing control.This article mainly describes the basic content,the input control parameters design,the aim and the process of the experiment.Experiments demonstrate that this equipment is a viable teaching experiment device by which the student can learn control theory and technology. |
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| Keywords: | arm robot networked control control algorithm teaching and experiment system |
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