| 工业机器人机械手的小脑模型自适应控制 |
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| 引用本文： | 刘德满,尹朝万.工业机器人机械手的小脑模型自适应控制[J].控制与决策,1993,8(5):362-366. |
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| 作者姓名： | 刘德满 尹朝万 |
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| 作者单位： | 东北大学自控系，中国科学院沈阳自动化研究所 沈阳·110005 |
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| 摘 要： |
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| 关 键 词： | 工业机器人 机械手 控制 小脑模型 |
Cerebellar Model Adaptive Control of an Industrial Robot Manipulator |
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| Liu Deman Yin Chaowan.Cerebellar Model Adaptive Control of an Industrial Robot Manipulator[J].Control and Decision,1993,8(5):362-366. |
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| Authors: | Liu Deman Yin Chaowan |
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| Affiliation: | Liu Deman Yin Chaowan(Northeastern University) (Shenyang Institute of Automation) |
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| Abstract: | In this paper, we propose a general control algorithm for dynamic control of robot manipulator. In this control algorithm, the Cerebellar Model Arithmetic Computer (CMAC) is used to estimate dynamic e-quation of robot manipulator and compute feedforward torque for implementing desired movement. An adaptive controller is used to implement feedback control and eliminate robot manipulator motion error caused by input disturbance and parameter changes. The control scheme is computationally efficient and well suited to fixed -point implementation. The effectiveness of the control algorithm is verified by the computer simulation experiment of repetitive movements of two forearms of 4 d. o. f D-D robot manipulator. |
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| Keywords: | industrial robot cerebellar model CMAC mapping adaptive controller computer simulation |
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